A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation Article Swipe

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Markus Schmitz , Jan Wiartalla , Jan Markus Gelfgren , S. Mann , Burkhard Corves , Mathias Hüsing ·

YOU? · · 2021 · Open Access · · DOI: https://doi.org/10.3390/app11135759

Previous algorithms for slicing, path planning or trajectory planning of additive manufacturing cannot be used consistently for multidirectional additive manufacturing with pure object manipulation in wire-arc additive manufacturing. This work presents a novel path planning approach that directly takes robot kinematics into account and thus ensures the reachability of all critical path poses. In an additional step, the planned path segments are smoothed so that joint velocity limits are respected. It is shown that the implemented path planner generates executable robot paths and at the same time maintains the process quality (in this case, sufficient coverage of the slice area). While the introduced method enables the generation of reachable printing paths, the smoothing algorithm allows for the execution of the path with respect to the robot’s velocity limits and at the same time improves the slice coverage. Future experiments will show the realization of the real robot setup presented.

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Artificial Intelligence

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Motion planning Path (computing) Computer science Robot Realization (probability) Executable Process (computing) Smoothing Reachability Trajectory Object (grammar) Algorithm Simulation Computer vision Control engineering Artificial intelligence Engineering Mathematics Astronomy Programming language Physics Operating system Statistics

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Type: article
Language: en
Landing Page: https://doi.org/10.3390/app11135759
PDF: https://www.mdpi.com/2076-3417/11/13/5759/pdf?version=1624332573
OA Status: gold
Cited By: 30
References: 31
Related Works: 10
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DOI: https://doi.org/10.3390/app11135759

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Title: A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation

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Language: en

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Publication year: 2021

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Publication date: 2021-06-22

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Authors: Markus Schmitz, Jan Wiartalla, Jan Markus Gelfgren, S. Mann, Burkhard Corves, Mathias Hüsing

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Landing page: https://doi.org/10.3390/app11135759

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Concepts: Motion planning, Path (computing), Computer science, Robot, Realization (probability), Executable, Process (computing), Smoothing, Reachability, Trajectory, Object (grammar), Algorithm, Simulation, Computer vision, Control engineering, Artificial intelligence, Engineering, Mathematics, Astronomy, Programming language, Physics, Operating system, Statistics

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Cited by: 30

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