Optimal task placement and redundancy management
dc.contributor.author
hal.structure.identifier | CARO, Stéphane
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2014 |
dc.date.submitted | 2014 |
dc.identifier.uri | http://hdl.handle.net/10985/9079 |
dc.description.abstract | This deliverable introduces a methodology that aims to determine the best placement of the workpiece to be machined knowing the cutting forces exerted on the tool and the elastostatic model of the robot. A machining quality criterion is proposed and an optimization problem is formulated and solved. The KUKAKR270-2 robot is used as an illustrative example throughout the report. A workpiece test and the cutting forces applied by the workpiece on the tool along the machined path are given as an illustrative example. Then, a mono-objective optimization problem is formulated and solved in order to find the optimum placement of the workpiece test with regard to a proposed machining quality criterion. As a result, the optimum and the worst workpiece placements are illustrated within the robotic cell. Moreover, the best and the worst redundancy planning schemes associated with those placements are determined. |
dc.description.sponsorship | ANR COROUSSO |
dc.language.iso | en |
dc.publisher | ABBA Gabriel |
dc.rights | Post-print |
dc.subject | Optimal task placement |
dc.subject | Robot redundancy |
dc.title | Optimal task placement and redundancy management |
dc.title.alternative | Placement optimal de tâches et gestion de la redondance |
dc.typdoc | Rapport de recherche |
dc.localisation | Centre de Metz |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
hal.identifier | hal-01092161 |
hal.version | 1 |
hal.submission.permitted | updateFiles |
hal.status | accept |