Collaborative control method for 3D printing motion-extrusion of six-axis robot arm with granular material based on speed smoothing and forward compensation
LIU Qinxiang, ZHANG Qiuju, SUN Yilin
Modern Manufacturing Engineering . 2025, (9): 25 -32 .  DOI: 10.16731/j.cnki.1671-3133.2025.09.004

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