Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing
| Autor: | Guoxin Fang, Charlie C. L. Wang, Xiangjia Chen, Tianyu Zhang, Yingjun Tian |
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| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
Control and Optimization Additive manufacturing Computer science Coordinate system Biomedical Engineering Motion (geometry) Kinematics law.invention Computer Science - Robotics Singularity Artificial Intelligence law Control theory Cartesian coordinate system Motion planning Mechanical Engineering collision checking Collision singularity Computer Science Applications Human-Computer Interaction Nonlinear system Control and Systems Engineering multi-axis motion planning Computer Vision and Pattern Recognition Robotics (cs.RO) |
| Zdroj: | Zhang, T, Chen, X, Fang, G, Tian, Y & Wang, C C L 2021, ' Singularity-Aware Motion Planning for Multi-Axis Additive Manufacturing ', IEEE Robotics and Automation Letters, vol. 6, no. 4, 9462416, pp. 6172-6179 . https://doi.org/10.1109/LRA.2021.3091109 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2021.3091109 |
| Popis: | Multi-axis additive manufacturing enables high flexibility of material deposition along dynamically varied directions. The Cartesian motion platforms of these machines include three parallel axes and two rotational axes. Singularity on rotational axes is a critical issue to be tackled in motion planning for ensuring high quality of manufacturing results. The highly nonlinear mapping in the singular region can convert a smooth toolpath with uniformly sampled waypoints defined in the model coordinate system into a highly discontinuous motion in the machine coordinate system, which leads to over-extrusion/under-extrusion of materials in filament-based additive manufacturing. The problem is challenging as both the maximal and the minimal speeds at the tip of a printer head must be controlled in motion. Moreover, collision may occur when sampling-based collision avoidance is employed. In this letter, we present a motion planning method to support the manufacturing realization of designed toolpaths for multi-axis additive manufacturing. Problems of singularity and collision are considered in an integrated manner to improve the motion therefore the quality of fabrication. |
| Databáze: | OpenAIRE |
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