The paper presents a motion planning method of redundant manipulator for painting uniform thick coating on the interior\nof irregular duct of some air crafts. Discontinuous peripheral painting method is employed by analyzing the restrictions during\npainting the duct. For improving the longitudinal uniformity of thick coating, the interlacing painting method plans two sets of\nsweeping paths and an interlacing distance between the starting paths of the two times of painting. The interlacing distance and\noverlapping distance are optimized by establishing and analyzing the model of longitudinal uniformity. To enhance the transverse\nuniformity, sweeping speeds for curved surfaces are calculated by the ratio of transfer efficiency after the basic sweeping speed for\nthe plane is determined. The intertwining method, minimizing the sum of the weighed distances between the duct centerline and\nkey points of the manipulator links, is employed for the joint trajectory planning without collision. The simulation and experiment\nresults show that the redundant manipulators can finish painting the internal surface of the irregular S-shaped duct without\ncollision. The maximum relative deviation is 16.3% and the thicknesses of all measurement points satisfy the acceptance criteria of\nthe factory.
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