Details
| Original language | English |
|---|---|
| Title of host publication | 2025 IEEE 21st International Conference on Automation Science and Engineering, CASE 2025 |
| Publisher | IEEE Computer Society |
| Pages | 1411-1416 |
| Number of pages | 6 |
| ISBN (electronic) | 9798331522469 |
| ISBN (print) | 979-8-3315-2247-6 |
| Publication status | Published - 17 Aug 2025 |
| Event | 21st IEEE International Conference on Automation Science and Engineering, CASE 2025 - Los Angeles, United States Duration: 17 Aug 2025 → 21 Aug 2025 |
Publication series
| Name | IEEE International Conference on Automation Science and Engineering |
|---|---|
| ISSN (Print) | 2161-8070 |
| ISSN (electronic) | 2161-8089 |
Abstract
The limited productivity growth within the construction industry in the last decades has increasingly driven the development of innovative manufacturing processes. Especially the expanding research field of robotic additive manufacturing in construction (AMC) is said to enhance the flexibility and efficiency. In particular, the usage of mobile manipulators as 3D printers enables the creation of manufacturing environments that are not constrained by the reach of the robotic arm. While initial approaches have implemented mobile manipulators that print from stationary positions before relocating, more sophisticated approaches focus on print-while-drive. Print-while-drive eliminates the risk of inducing weakening cold joints into the component during repositioning and further enhances the flexibility of the printing process. Existing approaches to print-while-drive rely exclusively on mobile manipulators with holonomic drives, such as Mecanum wheels. However, due to their design, Mecanum wheels are not suitable for use on uneven, contaminated, or loosely deposited surfaces. Such conditions, however, are common on construction sites. The application of alternative drive concepts, such as differential drive systems - commonly employed in track driven platforms - necessitates the development of novel trajectory-planning concepts for mobile manipulators. To this end, this publication proposes a trajectory planning algorithm to derive a suitable mobile platform trajectory based on a given tool center point (TCP)/printing trajectory. The functionality of the developed algorithm is demonstrated and evaluated by simulating the trajectories for large-scale components.
ASJC Scopus subject areas
- Engineering(all)
- Control and Systems Engineering
- Engineering(all)
- Electrical and Electronic Engineering
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2025 IEEE 21st International Conference on Automation Science and Engineering, CASE 2025. IEEE Computer Society, 2025. p. 1411-1416 (IEEE International Conference on Automation Science and Engineering).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Offline platform trajectory planning for print-while-drive additive manufacturing using mobile manipulators
AU - Lachmayer, Lukas
AU - Recker, Tobias
AU - Heeren, Hauke
AU - Müller, Pitt
AU - Raatz, Annika
N1 - Publisher Copyright: © 2025 IEEE.
PY - 2025/8/17
Y1 - 2025/8/17
N2 - The limited productivity growth within the construction industry in the last decades has increasingly driven the development of innovative manufacturing processes. Especially the expanding research field of robotic additive manufacturing in construction (AMC) is said to enhance the flexibility and efficiency. In particular, the usage of mobile manipulators as 3D printers enables the creation of manufacturing environments that are not constrained by the reach of the robotic arm. While initial approaches have implemented mobile manipulators that print from stationary positions before relocating, more sophisticated approaches focus on print-while-drive. Print-while-drive eliminates the risk of inducing weakening cold joints into the component during repositioning and further enhances the flexibility of the printing process. Existing approaches to print-while-drive rely exclusively on mobile manipulators with holonomic drives, such as Mecanum wheels. However, due to their design, Mecanum wheels are not suitable for use on uneven, contaminated, or loosely deposited surfaces. Such conditions, however, are common on construction sites. The application of alternative drive concepts, such as differential drive systems - commonly employed in track driven platforms - necessitates the development of novel trajectory-planning concepts for mobile manipulators. To this end, this publication proposes a trajectory planning algorithm to derive a suitable mobile platform trajectory based on a given tool center point (TCP)/printing trajectory. The functionality of the developed algorithm is demonstrated and evaluated by simulating the trajectories for large-scale components.
AB - The limited productivity growth within the construction industry in the last decades has increasingly driven the development of innovative manufacturing processes. Especially the expanding research field of robotic additive manufacturing in construction (AMC) is said to enhance the flexibility and efficiency. In particular, the usage of mobile manipulators as 3D printers enables the creation of manufacturing environments that are not constrained by the reach of the robotic arm. While initial approaches have implemented mobile manipulators that print from stationary positions before relocating, more sophisticated approaches focus on print-while-drive. Print-while-drive eliminates the risk of inducing weakening cold joints into the component during repositioning and further enhances the flexibility of the printing process. Existing approaches to print-while-drive rely exclusively on mobile manipulators with holonomic drives, such as Mecanum wheels. However, due to their design, Mecanum wheels are not suitable for use on uneven, contaminated, or loosely deposited surfaces. Such conditions, however, are common on construction sites. The application of alternative drive concepts, such as differential drive systems - commonly employed in track driven platforms - necessitates the development of novel trajectory-planning concepts for mobile manipulators. To this end, this publication proposes a trajectory planning algorithm to derive a suitable mobile platform trajectory based on a given tool center point (TCP)/printing trajectory. The functionality of the developed algorithm is demonstrated and evaluated by simulating the trajectories for large-scale components.
UR - http://www.scopus.com/inward/record.url?scp=105018298562&partnerID=8YFLogxK
U2 - 10.1109/CASE58245.2025.11163995
DO - 10.1109/CASE58245.2025.11163995
M3 - Conference contribution
AN - SCOPUS:105018298562
SN - 979-8-3315-2247-6
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1411
EP - 1416
BT - 2025 IEEE 21st International Conference on Automation Science and Engineering, CASE 2025
PB - IEEE Computer Society
T2 - 21st IEEE International Conference on Automation Science and Engineering, CASE 2025
Y2 - 17 August 2025 through 21 August 2025
ER -