Aniruddha Shembekar

• Master of Science
• University of Southern California

Robotic manipulators are increasingly being used for performing a wide variety of manufacturing processes. Some of the manufacturing processes performed using robotic manipulators require high trajectory execution accuracy. Automatically generated trajectories often exhibit significant execution errors due to robot model inaccuracies and controller...

Hand layup is a commonly used process for making composite structures from several plies of carbon-fiber prepreg. The process involves multiple human operators manipulating and conforming layers of prepreg to a mold. The manual layup process is ergonomically challenging, tedious, and limits throughput. Moreover, different operators may perform the...

We present an approach to generate path-constrained synchronous motion for the coupled ensemble of robots. In this article, we refer to serial-link manipulators and mobile bases as robots. We assume that the relative motion constraints among the objects in the environment are given. We represent the motion constraints as path constraints and pose t...

By attaching a material extrusion system to a robotic arm, we can deposit materials onto complex surfaces. Robotic manipulators can also maximize the task utility by performing other tasks such as assembly or surface polishing when they are not in use for the AM process. We present a robotic cell for embedding prefabricated components in extrusion-...

Robots are versatile machines that can perform complex manipulation operations. Recent advances in industrial robotics make robots useful in a wide variety of manufacturing processes. Several recent efforts have demonstrated how robots can be used in additive manufacturing (AM) processes. This paper surveys the work focused on expanding the functio...

Additive manufacturing (AM) technologies have been widely used to fabricate threedimensional (3D) objects quickly and cost-effectively. However, building parts consisting of complex geometries with curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar layered printing. Using six degreesof- fr...

Additive manufacturing (AM) technologies have been widely used to fabricate 3D objects quickly and cost-effectively. However, building parts consisting of complex geometries with multiple curvatures can be a challenging process for the traditional AM system whose capability is restricted to planar-layered printing. Using 6-DOF industrial robots for...

Surface finishing is an important manufacturing process. Many parts with complex geometries require finishing of internal regions before they can be used. In small and medium volume productions most of the finishing tasks are non-repetitive in nature, and have to be performed manually. These finishing operations for parts with complex geometries ca...