On the Optimal Robot Manipulator Motion Planning for Solid Freeform Fabrication by Thermal Spraying

Volume 1: 21st Design Automation Conference ◽

10.1115/detc1995-0128 ◽

1995 ◽

Author(s):

J. Rastegar ◽

Y. Qin ◽

Q. Tu

Keyword(s):

Motion Planning ◽

Robot Manipulator ◽

Solid Freeform Fabrication ◽

Thermal Spraying ◽

Freeform Fabrication ◽

Novel Approach ◽

Solid Objects ◽

Optimal Motion Planning ◽

Spatial Geometry ◽

Probabilistic Nature

Abstract A novel approach to optimal robot manipulator motion planning for Solid Freeform Fabrication (SFF) by thermal spraying is presented. In this approach, given the desired spatial geometry of the object, the motion of the spray gun relative to a forming platform is synthesized for minimal masking requirements considering the probabilistic nature of the thermal spraying process. The material build-up rate can be planned to achieve the desired distribution of the physical/material properties within the object volume. Examples of optimal motion planning for the generation of some basic solid objects and computer simulation of the effectiveness of the developed methodology are presented.

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Distributed-Parameter Modeling for Geometry Control of Manufacturing Processes With Material Deposition

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.482430 ◽

1998 ◽

Vol 122 (1) ◽

pp. 71-77 ◽

Cited By ~ 9

Author(s):

Charalabos Doumanidis ◽

Eleni Skordeli

Keyword(s):

Solid Freeform Fabrication ◽

Surface Topology ◽

Distributed Parameter ◽

Surface Geometry ◽

Mass Source ◽

Freeform Fabrication ◽

Geometry Model ◽

Material Deposition ◽

Solid Objects ◽

3D Solid

Recent solid freeform fabrication methods generate 3D solid objects by material deposition in successive layers made of adjacent beads. Besides numerical simulation, this article introduces an analytical model of such material addition, using superposition of unit deposition distributions, composed of elementary spherical primitives consistent with the mass transfer physics. This real-time surface geometry model, with its parameters identified by in-process profile measurements, is used for Smith-prediction of the material shape in the unobservable deposition region. The model offers the basis for a distributed-parameter geometry control scheme to obtain a desired surface topology, by modulating the feed and motion of a moving mass source. The model was experimentally tested on a fused wire deposition welding station, using optical sensing by a scanning laser stripe. Its applications to other rapid prototyping methods are discussed. [S0022-0434(00)02301-7]

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Nonconvex Time-Optimal Trajectory Planning for Robot Manipulators

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4044216 ◽

2019 ◽

Vol 141 (11) ◽

Cited By ~ 1

Author(s):

Ákos Nagy ◽

István Vajk

Keyword(s):

Motion Planning ◽

Degrees Of Freedom ◽

Optimization Problem ◽

Robot Manipulator ◽

Viscous Friction ◽

Global Optimum ◽

Convex Optimization Problem ◽

Optimal Motion Planning ◽

Time Optimal ◽

Active Research

Time-optimal motion-planning has been a topic of active research in the literature for a while. This paper presents a new approach for velocity profile generation, which is a subproblem in motion-planning. In the case of simplified constraints, profile generation can be translated to a convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy the convexity. The proposed method can obtain the global optimum of the nonconvex optimization problem. The experimental results with a three degrees-of-freedom (DOF) robot manipulator are also presented in this paper.

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