Robot demonstration spraying method and device for handheld tool demonstration

The invention provides a robot demonstration spraying method and device for handheld tool demonstration. In the method, an inertia measuring unit IMU mounted on a spray gun is utilized to record the position and the attitude of the spray gun in a spraying process, and an auxiliary sensor is utilized to compensate. The device comprises a robot, a paint supply control system, and a three-dimensionallaser linear array, wherein the tail end of the robot is equipped with the spray gun; a laser receiving point and the IMU are mounted on the spray gun; the paint supply control system comprises a flow meter and a pressure meter, which are connected to the spray gun for recording process parameters such as flow and pressure in a spraying process; the three-dimensional laser linear array is matchedwith the laser receiving point for measuring moving track of the spray gun as accumulated errors of displacement data obtained by integral elimination of the auxiliary sensor. The data are dynamically acquired in real time in