Casanova, JoãoLima, JoséCosta, Paulo Gomes da2023-02-282023-02-282021Casanova, João; Lima, José; Costa, Paulo (2021). A simulation tool for optimizing a 3D spray painting system. In 2nd International Conference on Optimization, Learning Algorithms and Applications, OL2A 2022. Bragança. 1488, p. 110 - 122http://hdl.handle.net/10198/27286The lack of general robotics purposed, accurate open source simulators is a major setback that limits the optimized trajectory generation research and general evolution of the robotics field. Spray painting is a particular case that has multiple advantages in using a simulator for exploring new algorithms, mainly the waste of materials and the dangers associated with a robotic manipulator. This paper demonstrates an implementation of spray painting on a previously existing simulator, SimTwo. Several metrics for optimization that evaluate the painted result are also proposed. In order to validate the implementation, we conducted a real world experiment that serves both as proof that the chosen spray distribution model translates to reality and as a way to calibrate the model parameters.engSpray paintingSimulatorTrajectory validationconference paper10.1007/978-3-030-91885-9_9