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Applied Sciences • Vol 11 • No 13
A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation
2021
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 nove…
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Algorithm

Sequence of operations for a task

In mathematics and computer science, an algorithm ( ) is a finite sequence of mathematically rigorous instructions, typically used to solve a class of specific problems or to perform a computation. Algorithms are used as specifications for performing calculations and data processing. More advanced algorithms can use conditionals to divert the code execution through various routes (referred to as automated decision-making) and deduce valid inferences (referred to as automated reasoning).

In contrast, a heuristic is an approach to solving problems without well- defined correct or optimal results. For example, although social media recommender systems are commonly called "algorithms", they actually rely on heuristics as there is no truly "correct" recommendation.

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Applied Sciences • Vol 11 • No 13
A Robot-Centered Path-Planning Algorithm for Multidirectional Additive Manufacturing for WAAM Processes and Pure Object Manipulation
2021
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…
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