This paper first describes the research purport and current research level of the off-line programming system for painting robot, and points out the Optimal Trajectory Planning Problems (OTPP).
本文首先介绍了国内外喷漆机器人离线编程系统的研究现状及意义，提出了喷枪最优轨迹规划问题(OTPP)。
Off-line programming system is an effective tool for the robot application.
机器人离线编程系统是机器人应用开发的有效工具。
应用推荐