{"id":1049,"date":"2026-02-26T09:26:11","date_gmt":"2026-02-26T08:26:11","guid":{"rendered":"https:\/\/blog.rwth-aachen.de\/robotik\/?p=1049"},"modified":"2026-02-26T09:26:11","modified_gmt":"2026-02-26T08:26:11","slug":"kollisionsfreie-trajektorienplanung-fuer-wachsende-bauteile-in-der-robotergestuetzten-fertigung","status":"publish","type":"post","link":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/kollisionsfreie-trajektorienplanung-fuer-wachsende-bauteile-in-der-robotergestuetzten-fertigung\/","title":{"rendered":"Collision-free trajectory planning for growing components in robot-assisted manufacturing"},"content":{"rendered":"<p><\/p>\n<div class=\"lyte-wrapper\" title=\"Multidirektionale additive Fertigung im Projekt FunkDAF\" style=\"width:853px;max-width:100%;margin:5px auto;\"><div class=\"lyMe\" id=\"WYL_qaMRRwXd1cg\"><div id=\"lyte_qaMRRwXd1cg\" data-src=\"https:\/\/i.ytimg.com\/vi\/qaMRRwXd1cg\/hqdefault.jpg\" class=\"pL\"><div class=\"tC\"><div class=\"tT\">Multidirektionale additive Fertigung im Projekt FunkDAF<\/div><\/div><div class=\"play\"><\/div><div class=\"ctrl\"><div class=\"Lctrl\"><\/div><div class=\"Rctrl\"><\/div><\/div><\/div><noscript><a href=\"https:\/\/youtu.be\/qaMRRwXd1cg\" rel=\"nofollow\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/i.ytimg.com\/vi\/qaMRRwXd1cg\/0.jpg\" alt=\"Multidirektionale additive Fertigung im Projekt FunkDAF\" width=\"853\" height=\"460\" \/><br \/>Watch this video on YouTube<\/a><\/noscript><\/div><\/div><div class=\"lL\" style=\"max-width:100%;width:853px;margin:5px auto;\"><br\/><span class=\"lyte_disclaimer\">Der an dieser Stelle eingebundene Inhalt f\u00fchrt Sie auf Seiten, die von der von Google betriebenen Seite YouTube - YouTube, LLC, 901 Cherry Ave., San Bruno, CA 94066, USA - zur Verf\u00fcgung gestellt werden. Mit dem Aufruf des Inhalts kann YouTube Ihre IP-Adresse und die Sprache des Systems, sowie verschiedene browserspezifische Angaben ermitteln.  Wenn Sie in Ihrem YouTube-Account eingeloggt sind, erm\u00f6glichen Sie YouTube, Ihr Surfverhalten direkt Ihrem pers\u00f6nlichen Profil zuzuordnen. Dies k\u00f6nnen Sie verhindern, indem Sie sich aus Ihrem YouTube-Account ausloggen.  YouTube verwendet Cookies und Tracking-Tools. Die Datenverarbeitungsvorg\u00e4nge sowie die Zwecke der Verarbeitung k\u00f6nnen direkt bei YouTube erfragt und eingesehen werden.<\/span><\/div><\/p>\n<p>As part of the FunkDAF research project, the IGMR is working with the MSE and VCI at RWTH Aachen University to explore the limits of additive manufacturing. Our focus is on multidirectional manufacturing: instead of breaking down components into planar layers as in conventional 3D printing, we generate print paths based on stress data to create load-path-compatible and thus more stable structures.<\/p>\n<p>The kinematics: We use a 6-axis industrial robot in a \u201crobot-guided\u201d configuration. The robot guides the print bed and component under a stationary extruder. This use of all six degrees of freedom enables the printing of complex, non-planar geometries and allows component sections to be manufactured in variable orientations to gravity.<\/p>\n<p>The challenge: Trajectory planning for such systems is highly complex. Unlike static print beds, we are moving a dynamically growing workpiece in space. During the process, the component itself becomes a potential collision object with respect to the nozzle and the environment. To make matters more difficult, the extrusion process requires a minimum working distance from the stationary nozzle. Path planning must therefore not only take extrusion into account, but also precisely calculate how the component volume changes.<\/p>\n<p>The travel paths (empty runs) between individual printing segments are particularly critical. Here, the robot often has to completely reorient the component in order to reach the next section without collision. Our current experiments (see images) demonstrate this impressively:<\/p>\n<p>Helix on cylinder: Requires continuous, coordinated rotation to deposit material on a curved surface.<br \/>\nOrthogonal cuboids: Demonstrate the ability to print overhangs without support structures through a 90\u00b0 reorientation.<\/p>\n<p>Contact person: <a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/das-institut\/team\/~bghhkm\/mark-witte-m-sc\/?allou=1&amp;lidx=1\">Mark Witte<\/a><br \/>\nFurther information about the project can be found <a href=\"https:\/\/www.igmr.rwth-aachen.de\/cms\/igmr\/forschung\/projekte\/aktuelle-projekte\/~bbaskf\/funkdaf\/?lidx=1\">here<\/a>.<\/p>\n<p>&nbsp;<\/p>","protected":false},"excerpt":{"rendered":"<p>Multidirektionale additive Fertigung im Projekt FunkDAFWatch this video on YouTubeDer an dieser Stelle eingebundene Inhalt f\u00fchrt Sie auf Seiten, die von der von Google betriebenen Seite YouTube &#8211; YouTube, LLC, [&hellip;]<\/p>\n","protected":false},"author":3799,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"c2c_always_allow_admin_comments":false,"footnotes":""},"categories":[107,105,32,59,104,33,113,10,106],"tags":[135,133,54,60,132,55,141,14,134],"class_list":["post-1049","post","type-post","status-publish","format-standard","hentry","category-aufgabenplanung","category-bahnplanung","category-c","category-mdam","category-planung","category-python","category-roboterprogrammierung","category-ros","category-trajektorie","tag-aufgabenplanung","tag-bahnplanung","tag-c","tag-mdam","tag-planung","tag-python","tag-roboterprogrammierung","tag-ros","tag-trajektorie"],"_links":{"self":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1049","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/users\/3799"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/comments?post=1049"}],"version-history":[{"count":2,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1049\/revisions"}],"predecessor-version":[{"id":1052,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/posts\/1049\/revisions\/1052"}],"wp:attachment":[{"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/media?parent=1049"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/categories?post=1049"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.rwth-aachen.de\/robotik\/en\/wp-json\/wp\/v2\/tags?post=1049"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}