Multi-Agent Motion Control

In additive printing that utilizes multiple robotic agents to build, each agent, or “arm”, is currently limited to a prescribed path determined by the user. While this is adequate for paired systems, in order for additive printing to quickly complete more complex projects, more agents need to be introduced into the system. This new multi-agent control paradigm enables multiple robots to work simultaneously and collaboratively on a rotating platform. 

Description

Currently, additive (3-D) printing utilizes pre-processed toolpaths to control the movement of each agent. A user must check the planned path for each agent to ensure that the agents are in position at the correct time, without interfering in another agent’s planned path.   

Users will employ a positioner table to drive the main motion of the system and robotic agents equipped with the necessary tools to enable the manufacturing process. Utilizing multi-agent motion control, the user can link secondary agents to prioritize and respond to a main agent that drives the motion. The other agents adapt to the main agent’s trajectory and adjust their paths accordingly. This would enable a scalable number of agents to work in tandem on a single part by relying on machine intelligence, rather than predetermined paths. This reduces labor time, as the user doesn’t need to check the path for each agent but can instead adjust parameters “on the fly”, improving deposition and production rates. This is adaptable to different geometries, tool paths, and manufacturing processes, expanding the range of parts that can be developed and produced. 

Benefits

• Enables sharing the workspace by smaller robots
• Improves robot allocation
• Improves system productivity

Applications and Industries

• Additive manufacturing
• Subtractive manufacturing (machining)
• Convergent manufacturing
• Robotics and automation

Contact

To learn more about this technology, email partnerships@ornl.gov or call 865-574-1051.