I spearheaded a cutting-edge project in multi-robot coordinated convergent manufacturing, focusing on Wire Arc Additive Manufacturing (WAAM) of complex geometries. My role spanned from developing robot and sensor drivers to creating a non-planar slicing algorithm and finally arc welding motion control. I developed a robust motion planning system, seamlessly coordinating three robots for optimized performance with real-time IR-based feedback. I have demonstrated the robustness of this workflow for convergent manufacturing, with the completion of multiple complex geometries of varying sizes and shapes.
