Adaptive NURBS-based trajectory optimization for robotic fiber placement on pressure vessels

Purpose The purpose of this study is to address roller-mandrel interference, abrupt orientation changes, and trajectory discontinuities during fiber placement on complex pressure-vessel surfaces. To this end, a trajectory optimization method based on Non-Uniform Rational B-Splines (NURBS) interpolation and S-curve velocity planning is proposed to improve trajectory continuity, pose synchronization, and execution accuracy. Design/methodology/approach First, by integrating pressure-vessel geometri