Development and application of a robotic manipulator system utilizing null-space control for three-dimensional printing
Journal
International Journal of Advanced Manufacturing Technology
Journal Volume
123
Journal Issue
7-8
Pages
2913
Date Issued
2022-12-01
Author(s)
Abstract
This paper presents the development of a robotic manipulator system for three-dimensional (3D) printing. Most closed-loop inverse kinematics (IK) methods that handle IK problems result in a robotic manipulator with a slight deviation, which may lead to inappropriate material stacking and defective objects or even damage the extruder. These methods are feasible when manipulating the motion of the robotic arm, but using these methods on the robotic arm for 3D printing can cause errors. Here, a null-space control with three potential fields to ensure completion of the primary task without disturbance, namely joint limit avoidance, singularity avoidance, and orientation error minimization, is applied to provide a safe solution. Minimizing orientation error can avoid extruder flipping, and a singular value decomposition-based singularity avoidance method is proposed to make calculations faster and more accessible. The null-space control method with three potential fields was numerically simulated. The proposed method and robotic manipulator system, conducted in freeform surface printing, were experimentally validated.
Subjects
Additive manufacturing | Joint limit avoidance | Null-space control | Robotic manipulator | Three-dimensional printing
SDGs
Publisher
SPRINGER LONDON LTD
Type
journal article