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Constrained motion planning for reduced jerk in robotic additive manufacturing systems

delete2026-04-23
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PRE
AI
S
Sean Rescsanski
S
Suyog Ghungrad
A
Azadeh Haghighi
J
Jiong Tang
F
Farhad Imani *
DOI：10.1016/j.rcim.2026.103311delete
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Abstract

Abstract

En 中文
• Constraint-manifold orientation planning reduces jerk in robotic AM toolpaths. • Plane-projection reduces toolpath dimensionality for learning-based planning. • Neural jerk surrogate enables ∼100×faster jerk evaluation with gradients. • Orientation optimizer cuts analytical jerk up to 19.9% on UR3 toolpaths. • Geometric deviation improved by 76.7% and defects near singularities reduced.
Keywords:
jerk reduction
robotic additive manufacturing
orientation planning
neural surrogate
geometric deviation

Journal

R
Robotics and Computer-Integrated Manufacturing
IF:
11.4
Papers:
3.3K
Citations:
1.3W

Organization

U
University of Illinois Chicago
Scholars:
1.7W
Papers: 1.4W
Citations: 3.0W
U
University of Connecticut
Scholars:
2.4W
Papers: 2.1W
Citations: 2.5W
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