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In this paper, we present a novel flow model and compensation strategy forhigh-viscosity fluid deposition that yields high quality parts in the face oflarge transient delays and nonlinearity. Robotic high-viscosity fluiddeposition is an essential process for a broad range of manufacturingapplications including additive manufacturing, adhesive and sealant dispensing,and soft robotics. However, high-viscosity fluid deposition withoutcompensation can lead to poor part quality and defects due to large transientdelays and complex fluid dynamics. Our computationally efficient model iswell-suited to real-time control and can be quickly calibrated and ourcompensation strategy leverages an iterative Linear-Quadratic Regulator tocompute compensated deposition paths that can be deployed on most dispensingsystems, without additional hardware. We demonstrate the improvements providedby our method when 3D printing using a robotic manipulator.

Lumped-Parameter Modeling and Control for Robotic High-Viscosity Fluid Dispensing in Additive Manufacturing