In recent years, the integration of additive manufacturing (AM) and industrial robotics has opened new perspectives for the production of complex components, particularly in the automotive sector. Robot-assisted additive manufacturing processes overcome the dimensional and kinematic limitations of traditional Cartesian systems, enabling non-planar deposition and greater geometric flexibility. However, the increasing dynamic complexity of robotic manipulators introduces challenges related to precision, control, and error prediction. This work proposes a model-based approach equipped with an integrated identification procedure of the system's parameters, including the robot, the actuators and the controllers. We show that the integrated modeling procedure allows to obtain a reliable dynamic model even in the presence of sensory and programming limitations typical of collaborative robots. The manipulator's dynamic model is identified through an integrated five step methodology: starting with geometric and inertial analysis, followed by friction and controller parameters identification, all the way to the remaining parameters identification. The proposed procedure intrinsically ensures the physical consistency of the identified parameters. The identification approach is validated on a real world case study involving a 6-Degrees-Of-Freedom (DoFs) collaborative robot used in a thermoplastic extrusion process. The very good matching between the experimental results given by actual robot and those given by the identified model shows the potential enhancement of precision, control, and error prediction in Robot Assisted 3D Printing Processes.

翻译：近年来，增材制造与工业机器人的融合为复杂部件生产开辟了新前景，尤其在汽车领域。机器人辅助增材制造克服了传统笛卡尔系统的尺寸和运动学限制，实现了非平面沉积和更高的几何灵活性。然而，机器人操纵器日益增长的动态复杂性带来了精度、控制和误差预测方面的挑战。本文提出一种基于模型的方法，配备系统参数（包括机器人、执行器和控制器）的集成辨识流程。研究表明，即使在协作机器人典型的传感和编程限制下，集成建模流程也能获得可靠的动态模型。通过一个五步集成方法论来辨识操纵器的动态模型：从几何与惯性分析开始，接着进行摩擦和控制器参数辨识，直至剩余参数辨识。所提程序本质上确保了辨识参数的物理一致性。该辨识方法在一个涉及六自由度协作机器人的热塑性挤出工艺实际案例中得到验证。实际机器人与辨识模型给出的实验结果之间的高度吻合，展示了在机器人辅助3D打印过程中提升精度、控制和误差预测的潜力。