Abstract
This disclosure describes a dynamic print-trigger control method for a printhead carried by a moving robotic platform. A liquid drop requires a finite time to travel from the printhead to the target surface. During this flight time, the robotic platform continues moving and may accelerate or decelerate, causing the drop to reach a position different from the intended printing position. The control method predicts the drop flight time using the printhead-to-surface distance and characteristics that affect drop ejection velocity, and predicts the movement of the robotic platform during the flight interval. The print trigger is then advanced or delayed so that the drop reaches the intended location on the surface. Inputs may include robot speed, robot acceleration, printhead-to-surface distance, print-agent pressure, print-agent type, fluid properties, and temperature. The calculation is repeated during printing so that compensation changes as the operating conditions change.
Creative Commons License
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Recommended Citation
INC, HP, "Dynamic Print Trigger Compensation for a Moving Robotic Printer", Technical Disclosure Commons, (September 16, 2026)
https://www.tdcommons.org/dpubs_series/11758