Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing
Abstract
In this paper, we present a novel flow model and compensation strategy for high-viscosity fluid deposition that yields high quality parts in the face of large transient delays and nonlinearity. Robotic high-viscosity fluid deposition is an essential process for a broad range of manufacturing applications including additive manufacturing, adhesive and sealant dispensing, and soft robotics. However, high-viscosity fluid deposition without compensation can lead to poor part quality and defects due to large transient delays and complex fluid dynamics. Our computationally efficient model is well-suited to real-time control and can be quickly calibrated and our compensation strategy leverages an iterative Linear-Quadratic Regulator to compute compensated deposition paths that can be deployed on most dispensing systems, without additional hardware. We demonstrate the improvements provided by our method when 3D printing using a robotic manipulator.
Keywords
Cite
@article{arxiv.2210.10747,
title = {Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing},
author = {William van den Bogert and James Lorenz and Xili Yi and Nima Fazeli and Albert J. Shih},
journal= {arXiv preprint arXiv:2210.10747},
year = {2022}
}
Comments
6 pages, 10 figures, conference