Page 13 - manuscript_ijb05589

Figure 3. a) Flow chart of robot control for printing on a movable target using an optical coherence
tomography (OCT) fiber-based distance tracking system. b) Optical microscope images of model

ink arrays printed using: (i) (left) a fixed 3 mm printing head-to-target distance, (ii) (middle) a

moving target with a 12 mm amplitude, (iii) (right) a moving target with a 12 mm amplitude and
dynamic z-position adjustment. The effect of the printing mode on: c) splatter coverage, d) drop

12