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About this Abstract
Meeting 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Symposium 2026 Annual International Solid Freeform Fabrication Symposium (SFF Symp 2026)
Presentation Title Coordinated Motion Control for Multi-Agent Wire Arc Additive Manufacturing of Non-Gravity Aligned Multi-Directional Components
Author(s) Alex Arbogast, Michael Sebok, Chris Masuo, William Carter, Andrzej Nycz, Patxi Fernandez-Zelaia
On-Site Speaker (Planned) Alex Arbogast
Abstract Scope Multi-agent systems strengthen the production efficiency of wire arc additive manufacturing (WAAM) processes. While proof-of-concept systems have demonstrated substantial throughput gains, design complexity is often constrained to simplify multi-agent coordination and process control. This work investigates strategies for online trajectory generation and real-time coordinated motion control used within multi-agent WAAM production of multi-directional components. The framework aims to expand the range and complexity of geometries that can be manufactured using a multi-agent production process. We examine methods for generating feasible toolpath orientations within multi-directional geometries and propose a closed-loop control algorithm for regulating build geometry. A multi-agent coordinated control architecture is presented in which each agent tracks a continuously varying motion-control setpoint within a shared, dynamically changing positioner frame. The proposed control framework is experimentally validated through the production of a 1" thick hemispherical geometry using a three-robot system coordinated with a rotary-table workpiece positioner.
Proceedings Inclusion? Undecided

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