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Due to the potential issue of non-rigid deformations in the manufacturing process of mobile phone frames, most existing dispensing automation methods struggled to acquire accurate dispensing positions. For this purpose, an innovative approach of dispensing trajectory generation was proposed, which addressed the limitations associated with previous methods. Firstly, the phone frames were scanned using a 3D laser profiler, then a point cloud registration algorithm based on the pose graph was introduced to reconstruct the point clouds of frames. The template-based approach was employed, and the dispensing trajectory for template was manually annotated. Subsequently, the template was aligned with the target by a non-rigid registration algorithm based on the deformation graph, thereby the transformed trajectory was obtained. Furthermore, a trajectory refinement strategy was presented to generate the robust, accurate dispensing trajectory of the target. Extensive experiments demonstrate that the errors of the generated dispensing trajectories were consistently below 0.01 mm, and the speed can meet the real-time requirement of practical applications.

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