Zhikai Shen

Trajectory Optimization for Collision-Aware Redundant Robotic Multi-Axis Additive Manufacturing by Constrained Gradient Projection

Zhikai Shen, Jiasheng Qu, Chenyu Xu, Zhuo Huang, Chengkai Dai, Yongzhe Li, et al.

Redundant robotic multi-axis additive manufacturing (MAAM) enables support-free and conformal fabrication, but trajectory optimization for long-horizon paths remains challenging under strict deposition-position constraints and time-varying collision constraints. This work propose…Read more