# Suitability of UR5 Robot for Robotic 3D Printing
## 2 State of the Art
The results indicate that the proposed methodology allows the measurement and estimation of the robot's rotary joint axis [17]. The positioning accuracy of a robot is a critical characteristic in various industrial applications. In their paper, [PERSON] et al. investigated the accuracy improvement in the UR5 collaborative robot using an optical tracking system, which was designed to integrate a numerical algorithm to track kinematic parameters. A numerical simulation was performed, and the experimental results were used to assess the positioning accuracy of the UR5 robot for the future need to design procedures and measures in applications requiring high robot positioning accuracy [18]. The application of robots in additive manufacturing is proving to be a powerful tool within advanced industries, thanks to significant process optimization and innovation of the already established concept of material lay-up production. This refers to a production technology employing different materials and is considered a nearly waste-free form of production. The development of new technologies is gradually combining these technologies, with robotics and additive manufacturing being no exception. [PERSON] et al. addressed the fabrication of shape-complex objects produced by 3D printing assisted by an industrial robot. In doing so, they examined post-processor creation and robot path optimization. They described the kinematics of the robot and inverse kinematics. Subsequently, they discussed the principles of reducing the robot's minimum nonlinear joint angle error, performed simulations and experiments to verify the operation of the proposed method, and optimized the robot trajectories for the realization of 3D printing [19]. The authors of the present papers also investigated inverse robot kinematics and the implementation of experimentally designed algorithms for tackling several tasks for controlling the collaborative robot UR5 [20; 21; 22]. [PERSON] et al. analyzed the UR5 collapsible robot using various measurements. The paper provides a comprehensive examination of the mathematical dynamic and kinematic models of the robot, which were created in Matlab and Simmechanics. The authors describe and visualize the UR5 robot in detail through simulations in the Matlab environment and develop a robot attitude control system [23]. Robotic 3D-printing technologies are increasingly popular in several areas of industry. From experimentally solved pilot tests using additive manufacturing techniques, this production technology is currently moving to large-scale mass production and the construction of production facilities for a number of industrial areas. In the construction industry, the idea of printing entire buildings using composite materials using a robot was proposed [24]. By developing these solutions, it is necessary to take into account the requirements in terms of strength and economic feasibility of the printing process and the correct choice of construction material [25]. The aim is to gradually replace traditional construction methods with new progressive methods. This technology enables the creation of non-standard shapes of building reinforcement, which were dealt with by [PERSON] et al. Furthermore, it enables the creation of free shapes of the steel reinforcement of the building structure. This gives rise to the idea of connecting concrete printing with steel 3D printing and thus the development of new design solutions for print heads and subsequently innovative project solutions for building construction [26]. Three-dimensional printing has gradually established itself in other industries as well, including the production of parts by robots from polymer composites reinforced with continuous fiber. The advantage of the production from such materials is mainly their low weight and high strength. [PERSON] et al. engaged in the production of components from composite material reinforced with glass fiber [27]. [PERSON] et al. focused on the progress achieved in the development of 3D printing with a focus on its practical use.