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Trajectory Generation for Robotic Additive Manufacturing: A Comparative Study

2025-04Conference paper Restricted 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
dc.contributor.authorCavalcanti, Marcella
dc.contributor.authorCostelha, Hugo
dc.contributor.authorNeves, Carlos
dc.date.accessioned2025-12-03T12:29:36Z
dc.date.available2025-12-03T12:29:36Z
dc.date.issued2025-04
dc.date.updated2025-11-27T14:17:32Z
dc.descriptionConference name 25th IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2025, Funchal
dc.descriptionConference date 2 April 2025 - 3 April 2025
dc.description.abstractThe integration of robot manipulators into additive manufacturing processes, particularly in fused filament fabrication, presents opportunities to overcome limitations of traditional three-axis systems. By leveraging the additional degrees of freedom, more versatile and efficient manufacturing solutions can be developed. However, this increased complexity introduces new challenges, including the need for trajectory planning that accounts for reachability, singularities, collision avoidance, and material deposition in various build orientations. This study focuses on the development and evaluation of trajectory generation approaches for robotic FFF using an ABB CRB 15000 manipulator. All approaches began with the same G-code input, and tests were conducted both in simulation and on the real robot. The results were analyzed in terms of trajectory accuracy, joint speed and acceleration profiles, parameters influence, and the Quality of the printed parts.eng
dc.description.sponsorshipFunding text This work is carried out within the framework of the \"Agendas para a Inovac\u0105o Empresarial\u0105 (Project no 49, acronym \"INOV.AM\u0105, with reference PRR/49/INOV.AM/EE, operation code 02/C05-i01.01/2022.PC644865234- 00000004), supported by the RRP - Recovery and Resilience Plan and by the European Funds NextGeneration EU. This work was supported by the Portuguese Foundation for Science and Technology (FCT) through the individual research grant 2024.12790.PRT.
dc.description.versioninfo:eu-repo/semantics/publishedVersion
dc.identifier.citationM. Cavalcanti, H. Costelha and C. Neves, "Trajectory Generation for Robotic Additive Manufacturing: A Comparative Study," 2025 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Funchal, Portugal, 2025, pp. 112-117, doi: 10.1109/ICARSC65809.2025.10970124.
dc.identifier.doi10.1109/icarsc65809.2025.10970124en_US
dc.identifier.isbn979-833153860-6
dc.identifier.isbn979-8-3315-3861-3
dc.identifier.issn2573-9387
dc.identifier.issn2573-9360
dc.identifier.slugcv-prod-4610957
dc.identifier.urihttp://hdl.handle.net/10400.8/14817
dc.language.isoeng
dc.peerreviewedyes
dc.publisherIEEE
dc.relation.hasversionhttps://ieeexplore.ieee.org/document/10970124
dc.rights.uriN/A
dc.subjectAdditive Manufacturing
dc.subjectFused Filament Fab-rication
dc.subjectPath planning
dc.subjectRobot manipulator
dc.subjectTrajectory planning
dc.titleTrajectory Generation for Robotic Additive Manufacturing: A Comparative Studyeng
dc.typeconference paperen_US
dspace.entity.typePublication
oaire.citation.conferenceDate2025-04
oaire.citation.conferencePlaceFunchal, Portugal
oaire.citation.endPage117
oaire.citation.startPage112
oaire.citation.titleIEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85
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.rightsclosedAccessen_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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