Path smoothing and feed rate planning for robotic curved layer additive manufacturing

•A B-spline path smoothing method and a feed rate optimization method are proposed for the robotic curved layer printing process.•Deposition volumetric error is defined to adaptively control the smoothing of end effector trajectory.•Feed rate modulation error is introduced to guide the planning of feed rate.•Simulations and experiments are conducted to verify the effectiveness of the proposed methods.