Román Flores, ArmandoRodríguez Padilla, Ma. Consuelo2023-02-112023-02-112022-12-02Rodríguez Padilla M.A.(2022). A safe and efficient path planning framework for conformal fused filament fabrication using a manipulator arm [Unpublished doctoral thesis]. Instituto Tecnológico y de Estudios Superiores de Monterrey. Recuperado de: https://hdl.handle.net/11285/650136https://hdl.handle.net/11285/650136https://orcid.org/0000-0003-2463-924XAs opposed to flat or planar extrusion additive manufacturing, the benefits of multi-plane and curved fused deposition of material are conclusive; however, several issues need to be considered and solved when a robotic manipulator is used for the deposition of material. The path and motion planning for printing using robotics need considerations to guarantee adequate results. This work presents the projection of a printing trajectory on a tessellated surface and a Reinforcement Learning strategy that optimizes the angular displacement of joints. The validation of the strategy is presented under simulated conditions inserting different obstacles for a projected zigzag printing pattern on a curved surface. Results show that this approach can choose the optimal inverse kinematic solution to optimize the movement of the main joints of a robot with six degrees of freedom while avoiding different obstacles. The strategy was tested on several actual printings of complex patterns on different curved surfaces using a manipulator arm UR3. Even thought the applicability of lattice manufacturing suggested here, the framework developed and software implemented and validated may be used for any application where a very precise conformal trajectory needs to be followed using a manipulator arm or any multi-axis system saving programming time.TextoengopenAccesshttp://creativecommons.org/licenses/by/4.0INGENIERÍA Y TECNOLOGÍA::CIENCIAS TECNOLÓGICAS::TECNOLOGÍA DE LOS ORDENADORES::SISTEMAS AUTOMATIZADOS DE PRODUCCIÓNTechnologyTesis de doctoradohttps://orcid.org/0000-0002-4089-2854Reinforcement LearningAdditive ManufacturingUR3Curved printingConformal printingRobotics16088457227080600