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		Xinwei CHEN,Jingtai LIU,Tao SHI,et al.[en_title][J].Control Theory and Technology,2012,10(3):273~279.[Copy]

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XinweiCHEN,JingtaiLIU,TaoSHI,HailiQIAN,KuoCHEN,QingWEI
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(Institute of Robotics and Information Automatic System, Nankai University)

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Received:June 21, 2011Revised:December 23, 2011

基金项目:This work was supported by the National High Technology Research and Development Program 863 (No. 2009AA04Z222), and the Tianjin Nature Science Foundation (No. 09JCZDJC23700).

3D printing robot: model optimization and image compensation

Xinwei CHEN,Jingtai LIU,Tao SHI,Haili QIAN,Kuo CHEN,Qing WEI

(Institute of Robotics and Information Automatic System, Nankai University)

Abstract:

A novel 7-axis robot for industrial large 3D printing applications is presented in this paper, which is developed by Institute of Robotics and Automatic Information System, Nankai University. Base on the prototype, the mechanism on three-dimensional printing is deeply dissected. By investigating the reason of color distortions in 3D printing, a novel multistep compensation algorithm based on model optimization and image compensation is developed. Finally, the experimental results show the performance of the 3D printing robot platform and the proposed algorithms.

Key words: 3D printing robot Model optimization Image compensation