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Robotic Path Planning Algorithms for Additive Manufacturing Using Advanced Simulation Tools

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.sdg08:Trabalho Digno e Crescimento Económico
datacite.subject.sdg12:Produção e Consumo Sustentáveis
dc.contributor.authorFerreira, Marco
dc.contributor.authorCostelha, Hugo
dc.contributor.authorConde Bento, Luis
dc.contributor.authorNeves, Carlos
dc.date.accessioned2026-01-09T16:05:01Z
dc.date.available2026-01-09T16:05:01Z
dc.date.issued2024-11-27en_US
dc.date.updated2025-12-31T18:17:19Z
dc.description[Conference presentation]. INOV.AM International Conference – Shaping Tomorrow, November 27 and 28, Braga, Portugal: https://conference.inovam.pt/
dc.descriptionConference paper | Writing - review & editing, Supervision.
dc.description.abstractRobotics-based additive manufacturing (AM), or 3D printing, enables flexible printing systems. This paper analyses path planning algorithms for robotic manipulators aiming at dynamic AM environments. Using the cuRobo library, the study evaluates the path planning algorithm MotionGen and Model Predictive Control (MPC) using NVIDIA’s Isaac Sim with ROS2 and MoveIt2. Docker provided a modular development environment, and an Intel RealSense camera was used to enable real-world and real-time obstacle detection. Results show that MotionGen outperforms MPC in energy consumption and time efficiency, generating smoother and more efficient trajectories, more suitable for real-time AM contexts. The project shows the potential of advanced robotic control algorithms to optimize AM, using NVIDIA’s Isaac platform. Future work will focus on applying this to real robots.eng
dc.description.sponsorshipThis work is carried out within the framework of the “Agendas para a Inovação Empresarial” (Project no 49, acronym “INOV.AM”, 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 project was partially financed by National Funds through the Portuguese funding agency, FCT - Fundação para a Ciência e a Tecnologia, within project UIDB/00308/2020. This project was partially financed by National Funds through the Scientific Employment Stimulus - Institutional Call CEECINST/00051/2018.
dc.description.versionN/A
dc.identifier.citationPereira, M., Costelha, H., Bento, L. C. & Neves, C. (2024). Robotic Path Planning Algorithms for Additive Manufacturing Using Advanced Simulation Tools [Conference paper]. INOV.AM International Conference – Shaping Tomorrow, Braga, Portugal.
dc.identifier.slugcv-prod-4638669
dc.identifier.urihttp://hdl.handle.net/10400.8/15275
dc.language.isoeng
dc.peerreviewedn/a
dc.relationInstitute for Systems Engineering and Computers at Coimbra - INESC Coimbra
dc.relation.hasversionhttps://conference.inovam.pt/wp-content/uploads/2024/11/INOV.AM_-CONFERENCE_DETAILED-PROGRAMME.pdf
dc.rights.uriN/A
dc.subjectAdvanced Robotic Simulation
dc.subjectDynamic Environments
dc.subjectCollaborative Environments
dc.subjectTrajectory Generation
dc.titleRobotic Path Planning Algorithms for Additive Manufacturing Using Advanced Simulation Toolseng
dc.typeconference paperen_US
dspace.entity.typePublication
oaire.awardTitleInstitute for Systems Engineering and Computers at Coimbra - INESC Coimbra
oaire.awardURIinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00308%2F2020/PT
oaire.citation.conferenceDate2024-11-27
oaire.citation.conferencePlaceBraga, Portugal
oaire.citation.titleINOV.AM International Conference – Shaping Tomorrow
oaire.fundingStream6817 - DCRRNI ID
oaire.versionhttp://purl.org/coar/version/c_b1a7d7d4d402bcce
person.familyNameFerreira
person.familyNameCostelha
person.familyNameConde Bento
person.familyNameNeves
person.givenNameMarco
person.givenNameHugo
person.givenNameLuis
person.givenNameCarlos
person.identifier0000000133901858
person.identifier.ciencia-id931E-2249-DBA3
person.identifier.ciencia-idFE12-AAD0-3AB3
person.identifier.ciencia-idDC15-E18A-8C59
person.identifier.orcid0000-0003-2397-1697
person.identifier.orcid0000-0003-0063-8592
person.identifier.orcid0000-0002-9689-3637
person.identifier.orcid0000-0003-1733-3648
person.identifier.ridV-4722-2017
person.identifier.ridF-7888-2013
person.identifier.ridF-4684-2014
person.identifier.scopus-author-id24775187600
person.identifier.scopus-author-id14070145000
person.identifier.scopus-author-id26768153200
project.funder.identifierhttp://doi.org/10.13039/501100001871
project.funder.nameFundação para a Ciência e a Tecnologia
rcaap.cv.cienciaid931E-2249-DBA3 | Hugo Costelha
rcaap.rightsopenAccessen_US
relation.isAuthorOfPublication190a3de4-9c64-461d-9d44-08b5f3eabf17
relation.isAuthorOfPublicationf45387c3-8889-4588-9808-d2bcd2d5848d
relation.isAuthorOfPublication0cfbb9a8-48d2-4547-bc90-01cde9d31be0
relation.isAuthorOfPublicationf87e8a37-498d-4ad4-810c-3c89d3171bf0
relation.isAuthorOfPublication.latestForDiscovery190a3de4-9c64-461d-9d44-08b5f3eabf17
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