Path smoothing and feed rate planning for robotic curved layer additive manufacturing

Robotic curved layer additive manufacturing (a.k.a. multi-axis 3D printing) has been gaining attention recently owing to its simplicity and unique ability of printing complex shapes without using a support structure. However, as the printing path now is no long planar and the nozzle orientation is no longer fixed but changes continuously during printing, even though it could be smooth when defined in the workpiece coordinate system in both...