This paper presents an integrated robotic fused deposition modeling additive manufacturing system featuring closed-loop thermal control and intelligent in-situ defect correction using a 6-degree of freedom robotic arm and an Oak-D camera. The robot arm end effector was modified to mount an E3D hotend thermally regulated by an IoT microcontroller, enabling precise temperature control through real-time feedback. Filament extrusion system was synchronized with robotic motion, coordinated via ROS2, ensuring consistent deposition along complex trajectories. A vision system based on OpenCV detects layer-wise defects position, commanding autonomous re-extrusion at identified sites. Experimental validation demonstrated successful defect mitigation in printing operations. The integrated system effectively addresses challenges real-time quality assurance. Inverse kinematics were used for motion planning, while homography transformations corrected camera perspectives for accurate defect localization. The intelligent system successfully mitigated surface anomalies without interrupting the print process. By combining real-time thermal regulation, motion control, and intelligent defect detection & correction, this architecture establishes a scalable and adaptive robotic additive manufacturing framework suitable for aerospace, biomedical, and industrial applications.

翻译：本文提出了一种集成式机器人熔融沉积成型增材制造系统，该系统采用六自由度机器人手臂与Oak-D相机实现闭环热控制与智能原位缺陷校正。机器人手臂末端执行器经过改装，安装了由物联网微控制器热调节的E3D热端，通过实时反馈实现精确温度控制。线材挤出系统与机器人运动通过ROS2协调同步，确保沿复杂轨迹的稳定沉积。基于OpenCV的视觉系统检测逐层缺陷位置，并在识别位置指令自主重新挤出。实验验证表明，该系统在打印操作中成功实现了缺陷缓解。该集成系统有效应对了实时质量保证的挑战。运动规划采用逆运动学方法，而单应性变换则用于校正相机视角以实现精确缺陷定位。该智能系统成功缓解了表面异常，且未中断打印过程。通过结合实时热调节、运动控制及智能缺陷检测与校正，该架构建立了一个可扩展、自适应的机器人增材制造框架，适用于航空航天、生物医学及工业应用领域。