Line width control and trajectory planning for robot guided inkjet deposition

A system for printing a 2D pattern on a 3D surface comprising:

• a LiDAR device or a 3D câmera;
• a printer;
• and
• a computing device adapted to:
• receive a 2D pattern;
• cause the LiDAR device or the 3D camera to capture a point cloud of a 3D surface, wherein the point cloud comprises a plurality of points;
• select a subset of the points of the point cloud;
• generate a mapping of the 2D pattern to the subset of points;
• generate a path on the 3D surface using generated mapping;
• and
• cause the printer to draw the 2D pattern on the 3D surface using the generated path.

A computer-readable medium with computer-executable instructions stored thereon that when executed by a computing device cause the computing device to:

• receive a 2D pattern;
• cause a LiDAR device or 3D camera to capture a point cloud of a 3D surface, wherein the point cloud comprises a plurality of points;
• select a subset of the points of the point cloud;
• generate a mapping of the 2D pattern to the subset of points;
• generate a path on the 3D surface using generated mapping;
• and
• cause a printer to draw the 2D pattern on the 3D surface using the generated path.