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Robot based fused filament fabrication (FFF) has various advantages compared to normal FFF. A major disadvantage is that there is no software which can generate the needed robot code. Therefore, a software was developed, which is able to process a model in the form of a STL file in such a way, that a finished robot code is created. This code can be executed directly on an ABB robot (other robots can be easily implemented). The software is capable of using all six degrees of freedom (DOF) of the used robot and of calculating possible collisions during the printing process.
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Werner et al. (2021) studied this question.
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