Motion Planning of Redundant Manipulators for Painting Uniform Thick Coating in Irregular Duct

Table 1

Dimensionless thickness on different parts.

Position	Dimensionless minimum thickness	Dimensionless maximum thickness	Average thickness	Maximum positive relative deviation; (%)	Maximum negative relative deviation; (%)	Intolerance; (%)
Bottom of the front	0.84	1.12	1.00	13.1	15.2	100
Top of the front	0.80	1.08	0.96	13.0	16.3	100
Back	0.92	1.16	0.53	8.9	13.6	100