large_scale_additive_manufacturing/evaluation.html at website · match-ROS/large_scale_additive_manufacturing · GitHub

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<!DOCTYPE html>
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<head>
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  <title>Evaluation | Print-While-Drive</title>
  <meta name="description" content="Project page for Print-While-Drive for robotic large-scale additive manufacturing." />
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<header class="site-header">
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    <a class="brand" href="index.html">match · Print-While-Drive</a>
    <nav>
      <a href="index.html#video">Video</a>
      <a href="index.html#chapters">Chapters</a>
      <a href="index.html#gallery">Gallery</a>
      <a href="paper.pdf">Paper</a>
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<main>
  <section class="chapter-hero container">
    <a class="back-link" href="index.html">← Back to landing page</a>
    <div class="subnav"><a href="printing-process.html">Printing Process</a><a href="trajectory-planning.html">Trajectory Planning</a><a href="trajectory-retiming.html">Trajectory Retiming</a><a href="robot-control.html">Robot Control</a><a href="evaluation.html" class="active">Evaluation</a></div>
    <div class="chapter-layout" style="margin-top:18px;">
      <div>
        <div class="eyebrow">Chapter overview</div>
        <h1>Evaluation</h1>
        <p class="chapter-lead">
          The evaluation assesses the proposed framework at three levels: trajectory tracking of the coupled robot system, closed-loop compensation of process disturbances during printing, and geometric agreement between the planned and the as-built component. Together, these experiments quantify both the control performance and the manufacturing quality of the full print-while-drive system.
          </p>

          <ul class="chapter-list">
            <li>
              The robot control system is first evaluated independently of active height correction in order to assess TCP velocity tracking and path-following accuracy under continuous mobile operation.
            </li>
            <li>
              The Layer Height Controller is then tested under a controlled disturbance, where an integrated HT pipe introduces a local height error that must be compensated online through feed-rate adaptation.
            </li>
            <li>
              Finally, the as-built geometry is reconstructed from the recorded line-laser profiles and compared with the target model to assess global part accuracy and systematic process deviations.
            </li>
            <li>
              Beyond validating the control concept, the evaluation also shows that the same laser data used for online control can be reused to generate a digital twin of the fabricated component.
            </li>
          </ul>
      </div>
      <div class="asset-box">
        <div class="viewer-box">
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        </div>
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  </section>

  <section class="section container">
    <div class="figure-grid">
      <figure class="figure">
        <img src="assets/evaluation/evaluation-01.png" alt="Evaluation placeholder 1">
        <figcaption>Measured TCP trajectory and velocity tracking during continuous print-while-drive operation, illustrating the performance of the coupled robot control system.</figcaption>
      </figure>
      <figure class="figure">
        <img src="assets/evaluation/evaluation-02.png" alt="Evaluation placeholder 2">
        <figcaption>Height-disturbance compensation after integration of an HT pipe, showing how the Layer Height Controller gradually restores the nominal layer height.</figcaption>
      </figure>
      <figure class="figure">
        <img src="assets/evaluation/evaluation-03.png" alt="Evaluation placeholder 3">
        <figcaption>Reconstructed as-built point cloud aligned with the target geometry, highlighting the final component quality and the distribution of geometric deviations.</figcaption>
      </figure>
    </div>
  </section>
</main>
<footer>
  <div class="container row">
    <div class="small">Evaluation · Print-While-Drive project page</div>
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