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 …