{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T17:22:11Z","timestamp":1755796931144,"version":"3.44.0"},"reference-count":27,"publisher":"ASME International","issue":"10","license":[{"start":{"date-parts":[[2025,8,18]],"date-time":"2025-08-18T00:00:00Z","timestamp":1755475200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.asme.org\/publications-submissions\/publishing-information\/legal-policies"}],"content-domain":{"domain":["asmedigitalcollection.asme.org"],"crossmark-restriction":true},"short-container-title":[],"published-print":{"date-parts":[[2025,10,1]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Aiming at achieving both efficient and consistent motion in robotic arm-assisted digital light processing (DLP) multi-material 3D printing, we propose a time-optimal path-tracking trajectory planning method with task-space constraints for robotic manipulators. First, the evaluation indices for velocity uniformity and work efficiency are established by analyzing the requirements of DLP multi-material printing applications. Subsequently, the time-optimal path-tracking trajectory planning algorithm integrating task-space velocity constraints is proposed. The task-space velocity uniformity constraints are transformed into joint space, and the trajectory is generated in a numerically integrated manner. Particularly, tight constraints that hinder motion efficiency and velocity uniformity are identified, and a relaxation operation to address this issue is proposed. Experimental results conducted with a six degrees-of-freedom robotic manipulator demonstrate that the end-effector can achieve both time efficiency and uniform motion velocity. Therefore, this work provides a theoretical foundation for advanced robotic arm-assisted DLP multi-material printing technology.<\/jats:p>","DOI":"10.1115\/1.4069213","type":"journal-article","created":{"date-parts":[[2025,7,21]],"date-time":"2025-07-21T15:54:51Z","timestamp":1753113291000},"update-policy":"https:\/\/doi.org\/10.1115\/crossmarkpolicy-asme","source":"Crossref","is-referenced-by-count":0,"title":["Time-Optimal Trajectory Planning for Task-Space Path Tracking With Velocity Uniformity in Digital Light Processing Multi-Material Printing"],"prefix":"10.1115","volume":"25","author":[{"given":"Xin","family":"Li","sequence":"first","affiliation":[{"name":"University of Chinese Academy of Sciences Technology and Engineering Center for Space Utilization, , \u00a0 ,","place":["Beijing, China, 100193"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yatao","family":"Liu","sequence":"additional","affiliation":[{"name":"University of Chinese Academy of Sciences Technology and Engineering Center for Space Utilization, , \u00a0 ,","place":["Beijing, China, 100193"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shiyu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Beijing University of Posts and Telecommunications School of Intelligent Engineering and Automation, , \u00a0 ,","place":["Beijing, China, 100876"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gong","family":"Wang","sequence":"additional","affiliation":[{"name":"Chinese Academy of Sciences Technology and Engineering Center for Space Utilization, , \u00a0 ,","place":["Beijing, China, 100193"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bingshan","family":"Liu","sequence":"additional","affiliation":[{"name":"Chinese Academy of Sciences Technology and Engineering Center for Space Utilization, , \u00a0 ,","place":["Beijing, China, 100193"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"33","published-online":{"date-parts":[[2025,8,18]]},"reference":[{"key":"2025081808490768500_CIT0001","doi-asserted-by":"publisher","first-page":"e00139","DOI":"10.1016\/j.bprint.2021.e00139","article-title":"Robotic Platform and Path Planning Algorithm for In Situ Bioprinting","volume":"22","author":"Fortunato","year":"2021","journal-title":"Bioprinting"},{"key":"2025081808490768500_CIT0002","doi-asserted-by":"publisher","first-page":"104219","DOI":"10.1016\/j.rineng.2025.104219","article-title":"Multi-Material and Multi-Scale Platform for Robotic Based In Situ Bioprinting","volume":"25","author":"Guerra","year":"2025","journal-title":"Results Eng."},{"issue":"1","key":"2025081808490768500_CIT0003","doi-asserted-by":"publisher","first-page":"13","DOI":"10.1049\/iet-csr.2018.0003","article-title":"Survey of Optimal Motion Planning","volume":"1","author":"Yang","year":"2019","journal-title":"IET Cyber-Syst. 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