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Industrial Robot Trajectory Generation and Execution for 3D Printing using an ABB IRB 1200

2024-11-27Conference paper Open access
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datacite.subject.fosEngenharia e Tecnologia
datacite.subject.fosEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
datacite.subject.sdg09:Indústria, Inovação e Infraestruturas
datacite.subject.sdg12:Produção e Consumo Sustentáveis
datacite.subject.sdg08:Trabalho Digno e Crescimento Económico
dc.contributor.authorCavalcanti, Marcella
dc.contributor.authorCostelha, Hugo
dc.contributor.authorNeves, Carlos
dc.date.accessioned2025-12-03T12:37:26Z
dc.date.available2025-12-03T12:37:26Z
dc.date.issued2024-11-27en_US
dc.date.updated2025-11-27T14:16:20Z
dc.description[Conference presentation]. INOV.AM International Conference – Shaping Tomorrow, November 27 and 28, Braga, Portugal: https://conference.inovam.pt/
dc.description.abstractThe use of industrial robots in additive manufacturing processes has become increasingly important, offering more flexibility and the capability of multi-directional printing. This integration facilitates the production of more complex geometries, free from the limitations of small build volumes and support structures, opening new possibilities for innovation in advanced manufacturing systems. As the complexity of the printed structures grows, optimizing robot trajectories is essential to ensure high-quality results. This work presents a comparative analysis of robot trajectory generation and execution using ABB's 3D Printing Power Pack and generated RAPID coding in both simulated and real environments. The objective is to assess the use of the Power Pack in term of trajectory accuracy and efficiency, as well as how the simulated results compare with the real ones, considering the use-case of 3D printing. To support this analysis, a "test pattern" was designed to account for different trajectories, consisting of a single line extrusion path featuring long linear segments, corners, and curved sections. The path was converted into both G-code and RAPID code. The G-code was first validated on a standard 3D printer and then used as input in the 3D Printing Power Pack application to generate a RAPID program for the robot. Separately, another RAPID program was created manually to execute the same path, based on the G-code. Both programs were executed on a simulated environment in RobotStudio, and on an ABB IRB 1200 robot. Throughout the tests, the robot’s Tool Center Point (TCP) position was captured using ABB’s Externally Guided Motion (EGM) application.eng
dc.description.sponsorship02/C05-i01.01/2022.PC644865234-00000004
dc.description.versioninfo:eu-repo/semantics/publishedVersion
dc.identifier.citationCavalcanti, M., Costelha, H., & Neves, C. (2024). Industrial robot trajectory generation and execution for 3D printing using an ABB IRB 1200 [Conference presentation]. INOV.AM International Conference – Shaping Tomorrow, Braga, Portugal.
dc.identifier.slugcv-prod-4611132
dc.identifier.urihttp://hdl.handle.net/10400.8/14818
dc.language.isoeng
dc.peerreviewedyes
dc.relation.hasversionhttps://conference.inovam.pt/wp-content/uploads/2024/11/INOV.AM_-CONFERENCE_DETAILED-PROGRAMME.pdf
dc.rights.uriN/A
dc.subjectRoboticsen_US
dc.subjectAdditive Manufactuting,en_US
dc.subjectIndustrial Robot Manipulator
dc.subjectRobot Trajectory Generation and Execution
dc.titleIndustrial Robot Trajectory Generation and Execution for 3D Printing using an ABB IRB 1200eng
dc.typeconference paperen_US
dspace.entity.typePublication
oaire.citation.conferenceDate2025-11-27
oaire.citation.conferencePlaceBraga, Portugal
oaire.citation.titleINOV.AM International Conference – Shaping Tomorrow
oaire.versionhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43
person.familyNameCavalcanti
person.familyNameCostelha
person.familyNameNeves
person.givenNameMarcella
person.givenNameHugo
person.givenNameCarlos
person.identifier0000000133901858
person.identifier.ciencia-id931E-2249-DBA3
person.identifier.ciencia-idDC15-E18A-8C59
person.identifier.orcid0000-0002-9159-2157
person.identifier.orcid0000-0003-0063-8592
person.identifier.orcid0000-0003-1733-3648
person.identifier.ridV-4722-2017
person.identifier.ridF-4684-2014
person.identifier.scopus-author-id24775187600
person.identifier.scopus-author-id26768153200
rcaap.cv.cienciaid931E-2249-DBA3 | Hugo Costelha
rcaap.rightsopenAccessen_US
relation.isAuthorOfPublication7358e9b8-6c2e-4c40-a729-abd60ec1cf0c
relation.isAuthorOfPublicationf45387c3-8889-4588-9808-d2bcd2d5848d
relation.isAuthorOfPublicationf87e8a37-498d-4ad4-810c-3c89d3171bf0
relation.isAuthorOfPublication.latestForDiscovery7358e9b8-6c2e-4c40-a729-abd60ec1cf0c

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