Trajectory Control and Simulation of 6-DOF Robotic System Based On Screw Theory

Additive manufacturing technology is widely employed in different fields. The robotic 3D printer is increasingly popular in recent years because it can provide more degree of freedom to improve the printing performance. Our paper illustrates a complete approach for kinematic control of the end-effector trajectory of robotic 3D printer. The forward kinematics and the differentiate kinematics is analyzed to establish the kinematic model of the robot. Then inverse-kinematic control scheme is applied to control the robot following the desired path points. More importantly, a trajectory generation algorithm is proposed to generate the desired trajectory. The simulation results show the validation of the approach.