Trajectory Planning for A Dual-arm 3D-printer

To enhance additive manufacturing efficiency, we are developing an FDM (Fused Deposition Modeling) printer named DEXTER, which features dual Selective Compliance Articulated Robot Arms (SCARA). Our work involves creating a path planner that generates trajectories for each of DEXTER’s arms while ensuring collision avoidance between them. We introduce a collision-free path planning approach for DEXTER’s arms, utilizing an enhanced Sampling-Based Model Predictive Optimization (SBMPO) technique that integrates A*-based optimization with a Danger Field (DF) method. This DF-SBMPO approach is applied to a dual-arm 3D printing system. Simulation results demonstrate that the improved SBMPO effectively generates smooth, collision-free paths and trajectories, with constraints on velocity and acceleration, for the dual-arm 3D printer system.