A controller (106) for determining control information to be wirelessly transmitted to a robotic device (102) is disclosed. The controller (106) is configured to obtain first control information comprising at least one first movement instruction for a trajectory of the robotic device (102) and obtain an indication of at least one wireless transmission requirement for a transmission resource and to determine that no wireless transmission resource is available which matches the wireless transmission requirement. The controller (106) is further configured to determine second control information based on the first control information, wherein the second control information comprises at least one second movement instruction for the trajectory which is different from the at least one first movement instruction and trigger wireless transmission of the second control information to the robotic device (102).

A process for automatically adjusting print speed in a 3D printer, a system for printing a 3D object, and a method of printing a 3D object. A scaling factor is selected, including a first component for print speed and a second component for print quality, an extrusion nozzle port size is identified, and a maximum volumetric extrusion rate for a filament material and a minimum volumetric extrusion rate for the filament material is identified. An optimized volumetric extrusion rate is calculated from the maximum volumetric extrusion rate, the minimum volumetric extrusion rate, and the scaling factor. An optimized X-Y velocity V.sub.xy of a print head based on the optimized volumetric extrusion rate is calculated. A computer numerical control code is adjusted to include the optimized X-Y velocity V.sub.xy of the print head.

A process for automatically adjusting print speed in a 3D printer, a system for printing a 3D object, and a method of printing a 3D object. A scaling factor is selected, including a first component for print speed and a second component for print quality, an extrusion nozzle port size is identified, and a maximum volumetric extrusion rate for a filament material and a minimum volumetric extrusion rate for the filament material is identified. An optimized volumetric extrusion rate is calculated from the maximum volumetric extrusion rate, the minimum volumetric extrusion rate, and the scaling factor. An optimized X-Y velocity V.sub.xy of a print head based on the optimized volumetric extrusion rate is calculated. A computer numerical control code is adjusted to include the optimized X-Y velocity V.sub.xy of the print head.