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This paper proposes two new methods aimed at optimizing goal poses to solve the problem. The first method, employing an analytical approach, modifies the goal poses to maintain the 4th joint value of a 6-axis industrial robot at zero. This adjustment effectively reduces the motion range of the 5th and 6th axes. The second method utilizes numerical optimization to adjust the goal poses, aiming to minimize the motion range of all joints. Leveraging the analytical method to obtain one good initial value, numerical optimization is subsequently applied to complete the entire path optimization, creating an optimization workflow. It is also possible to use only analytical methods for computational efficiency. The feasibility and effectiveness of these two methods are validated through simulation and real project case.<\/jats:p>","DOI":"10.1007\/s44223-024-00058-z","type":"journal-article","created":{"date-parts":[[2024,5,6]],"date-time":"2024-05-06T06:01:56Z","timestamp":1714975316000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Optimization for industrial robot joint movement in non-horizontal 3D printing application"],"prefix":"10.1007","volume":"3","author":[{"given":"Ming","family":"Lu","sequence":"first","affiliation":[]},{"given":"Hao","family":"Wu","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2871-377X","authenticated-orcid":false,"given":"Philip F.","family":"Yuan","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2024,5,6]]},"reference":[{"key":"58_CR1","volume-title":"Practical optimization","author":"A Antoniou","year":"2007","unstructured":"Antoniou, A., & Lu, W. 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Ethics Approval:The research described in this manuscript has been conducted in accordance with the ethical standards and guidelines established by [Name of the Ethical Review Board or Institutional Review Board]. The research protocol, including the methodology and procedures, was reviewed and approved by the board on [Date of Approval]. The approval number for this study is [Approval Number].2. Informed Consent:Informed consent was obtained from all participants involved in the study. Participants were provided with detailed information about the purpose, procedures, potential risks, and benefits of the study. They were assured of the confidentiality and anonymity of their data. Participants were given the opportunity to ask questions and clarify any concerns before providing their written consent.3. Voluntary Participation:Participation in this study was entirely voluntary, and participants were informed of their right to withdraw at any point without facing any consequences. No coercive measures were employed, and participants were not subjected to any undue pressure to participate.4. Confidentiality:All collected data were treated with the utmost confidentiality. Personal identifiers were removed or anonymized to ensure the privacy of the participants. The data will be securely stored and only accessible to the research team.5. Contact Information:For any questions or concerns related to the research, participants were provided with the contact information of the principal investigator. They were encouraged to reach out if they had any further inquiries.This study adheres to the principles outlined in the Declaration of Helsinki and other relevant ethical guidelines.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval and consent to participate"}},{"value":"I, Ming LU, the undersigned author of the manuscript titled \" New methods of industrial robot joint movement optimization for non-horizontal 3D printing applications,\" hereby provide my consent for the publication of the aforementioned work in Architectural Intelligence.I affirm that:1. I have read and approved the final version of the manuscript for submission to Architectural Intelligence.2. I take full responsibility for the content of the manuscript and assert that the work is original and does not infringe upon the intellectual property rights of any third party.3. All co-authors have been appropriately acknowledged and have consented to the submission of this manuscript.4. I understand that the manuscript will be published under the terms and conditions of [Name of the Journal], and I agree to abide by these terms.5. I confirm that the submitted work is not under consideration for publication elsewhere and has not been previously published.6. In the event of any dispute related to the content of the manuscript, I am willing to cooperate with the editorial board of Architectural Intelligence to address and resolve the concerns raised.I acknowledge that the decision to publish the manuscript is at the discretion of the editorial board of Architectural Intelligence.Signed:Ming LUTongji University28 Nov 2023","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"Author Philip F.\u00a0Yuan is the Editor-in-Chief for Architectural Intelligence, who is not involved in the joural's review of, or decisions related to this manuscript.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Competing interests"}}],"article-number":"16"}}