Match Additive Manufacturing

This repository contains packages related to additive manufacturing processes. Below is a brief description of each package included in this repository.

Packages

1. ur_trajectory_follower

UR Twist Computation (overview)

Errors computed

• Laser lateral error: index offset of the profile peak (from laser_profile_error_estimator.py).
• Laser height error: target minus measured height (used to adjust speed override).
• Path tracking error: direction to the next waypoint + Z error (PID on height).
• Orthogonal error: projection of pose error onto the path normal.

Twist components

• Laser lateral correction: laser_profile_controller.py maps lateral error to a lateral velocity in TCP frame, then rotates it into base frame.
• Path following: ur_path_direction_controller.py outputs forward motion along the path plus Z PID.
• Orthogonal correction: orthogonal_error_correction.py outputs a correction twist along the path normal.
• Frame conversion: world_twist_in_mir.py/rotate_twist_by_pose.py rotate world-frame twists into base frame.

Combination

• combine_twists.py/twist_combiner sums the active twist components into the final UR command (command_collision_free).

Velocity override (not a twist)

• velocity_override is a scalar that scales the path-following speed inside ur_path_direction_controller.py (not combined by twist_combiner_world).

For details on the ur_trajectory_follower package, please refer to the README file in the ur_trajectory_follower directory.

Prerequisites

This package requires the following to be installed:

• ROS
• match_mobile_robotics
• match_lib

Installation

To install the packages, clone the repository and run the setup script to install dependencies and build the workspace:

git clone https://github.com/match-ROS/match_additive_manufacturing.git
cd match_additive_manufacturing
./setup.sh

Usage

To use the packages, source the workspace and run the desired nodes:

source devel/setup.bash

To launch everything:

roslaunch print_sim run_simulation_complete.launch
roslaunch ur_trajectory_follower complete_ur_trajectory_follower_ff_only.launch

Measurement Data

Measurement results in Rosbag format can be found at the following link

https://seafile.cloud.uni-hannover.de/d/9b66d3d6af834b0b815f/

Contributing

Contributions are welcome! Please fork the repository and submit a pull request.

License

See the LICENSE file for license rights and limitations (MIT).

DOI

https://doi.org/10.5281/zenodo.14507474

Contact

For any questions or inquiries, please contact matchbox@match.uni-hannover.de