https://sam.ensam.eu:443 The DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material. Sun, 14 Jun 2026 10:11:04 GMT 2026-06-14T10:11:04Z http://hdl.handle.net/10985/8155 Feedrate planning for machining with industrial six-axis robots DAMAK, Mohamed; OLABI, Adel; BEAREE, Richard; GIBARU, Olivier Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot. The authors want to thank Stäubli for providing the necessary information of the controller, Dynalog for its contribution to the experimental validations and X. Helle for its material contributions. Fri, 01 Jan 2010 00:00:00 GMT http://hdl.handle.net/10985/8155 2010-01-01T00:00:00Z DAMAK, Mohamed OLABI, Adel BEAREE, Richard GIBARU, Olivier Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot. http://hdl.handle.net/10985/7745 Improving the Accuracy of Industrial Robots by offline Compensation of Joints Errors DAMAK, Mohamed; LELEU, Stéphane; OLABI, Adel; BEAREE, Richard; GIBARU, Olivier The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant error of position in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/7745 2013-01-01T00:00:00Z DAMAK, Mohamed LELEU, Stéphane OLABI, Adel BEAREE, Richard GIBARU, Olivier The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility of robots joints and the kinematic errors in the transmission systems produce a significant error of position in the level of the end-effector. This paper presents these two types of joint errors. Identification methods are presented with experimental validation on a 6 axes industrial robot, STAUBLI RX 170 BH. An offline correction method used to improve the accuracy of this robot is validated experimentally. http://hdl.handle.net/10985/17377 Task-oriented rigidity optimization for 7 DOF redundant manipulators BUSSON, David; OLABI, Adel; BEAREE, Richard In this work, redundancy resolution has been employed to increase the Cartesian mechanical rigidity of 7 DOF robot manipulators during tasks requiring stiff interactions with the environment (e.g. milling or drilling). The Cartesian static stiffness of the end-effector for a given joint configuration is deduced from an identified joints stiffness model. The Cartesian reflected rigidity evolution over an analytically computed self-motion of the manipulator shows significant variations that clearly highlight the need to select the right set of joint angles among the possible ones. A global optimization scheme of the redundant DOF is proposed to determine the stiffest robot configurations for a given pose of the end-effector. An experimental study on 7 DOF KUKA LBR iiwa then shows the relevance of the proposed approach in finding the redundant robot joint angles that optimize this rigidity criteria. Sun, 01 Jan 2017 00:00:00 GMT http://hdl.handle.net/10985/17377 2017-01-01T00:00:00Z BUSSON, David OLABI, Adel BEAREE, Richard In this work, redundancy resolution has been employed to increase the Cartesian mechanical rigidity of 7 DOF robot manipulators during tasks requiring stiff interactions with the environment (e.g. milling or drilling). The Cartesian static stiffness of the end-effector for a given joint configuration is deduced from an identified joints stiffness model. The Cartesian reflected rigidity evolution over an analytically computed self-motion of the manipulator shows significant variations that clearly highlight the need to select the right set of joint angles among the possible ones. A global optimization scheme of the redundant DOF is proposed to determine the stiffest robot configurations for a given pose of the end-effector. An experimental study on 7 DOF KUKA LBR iiwa then shows the relevance of the proposed approach in finding the redundant robot joint angles that optimize this rigidity criteria. http://hdl.handle.net/10985/7459 Dissociated jerk-limited trajectory applied to time-varying vibration reduction BEAREE, Richard; OLABI, Adel Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual vibration induced by a lightly damped stationary mode. However, for systems with time-varying mode, which is classically the case for configuration dependent mode or load mass variations, the previous result vanishes. This paper proposes to extend the jerk-limited profile (JL) properties to time-varying vibration problem. First, a guideline for designing a dissociated jerk-limited profile (DJL) based on simple and pragmatic Finite Impulse Response (FIR) filtering methodology is presented. Following the guideline, the time-varying vibration reduction principle is detailed. Then, experiments conducted on an industrial 3-axes Cartesian manipulator are presented. The experimental results show that the residual vibration magnitude is reduced to less than 23% of the original level obtained with JL profile and the settling time is reduced by 10%, demonstrating the efficiency of the proposed DJL trajectory planning. Tue, 01 Jan 2013 00:00:00 GMT http://hdl.handle.net/10985/7459 2013-01-01T00:00:00Z BEAREE, Richard OLABI, Adel Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual vibration induced by a lightly damped stationary mode. However, for systems with time-varying mode, which is classically the case for configuration dependent mode or load mass variations, the previous result vanishes. This paper proposes to extend the jerk-limited profile (JL) properties to time-varying vibration problem. First, a guideline for designing a dissociated jerk-limited profile (DJL) based on simple and pragmatic Finite Impulse Response (FIR) filtering methodology is presented. Following the guideline, the time-varying vibration reduction principle is detailed. Then, experiments conducted on an industrial 3-axes Cartesian manipulator are presented. The experimental results show that the residual vibration magnitude is reduced to less than 23% of the original level obtained with JL profile and the settling time is reduced by 10%, demonstrating the efficiency of the proposed DJL trajectory planning. http://hdl.handle.net/10985/25681 Hybrid Calibration of Industrial Robot Considering Payload Variation SELINGUE, Maxime; OLABI, Adel; THIERY, Stéphane; BEAREE, Richard Absolute accuracy of industrial robot is required for most of industrial applications. However, positioning errors of several millimeters are induced by many factors. Hybrid calibration, combining analytical model and learning-based regression, can compensate for most of the positioning error, including payload effects. However, when the payload changes, hybrid calibration has to be performed again. In this paper, hybrid calibration is applied on an industrial robot in two different sub-workspaces, with two different payloads. The results of this method have been compared to other calibration approaches, and highlight that hybrid calibration provides a higher final accuracy. Moreover, two data-efficient and pragmatic approaches are proposed, to address the issue of changing payload. Both methods are based on hybrid calibration. The first one uses previously-acquired knowledge to drastically reduce the number of measurements necessary to update a trained learning model with another payload. The second one uses a model trained separately for two different payloads and interpolates the outputs to compensate for new payloads without any additional measurement. The datasets used are available at: https://doi. org/10.57745/DWUC0H. The methods have been experimentally validated using a compensation algorithm and compared to other approaches, and show that the positioning error can be reduced by 95%. Sun, 01 Oct 2023 00:00:00 GMT http://hdl.handle.net/10985/25681 2023-10-01T00:00:00Z SELINGUE, Maxime OLABI, Adel THIERY, Stéphane BEAREE, Richard Absolute accuracy of industrial robot is required for most of industrial applications. However, positioning errors of several millimeters are induced by many factors. Hybrid calibration, combining analytical model and learning-based regression, can compensate for most of the positioning error, including payload effects. However, when the payload changes, hybrid calibration has to be performed again. In this paper, hybrid calibration is applied on an industrial robot in two different sub-workspaces, with two different payloads. The results of this method have been compared to other calibration approaches, and highlight that hybrid calibration provides a higher final accuracy. Moreover, two data-efficient and pragmatic approaches are proposed, to address the issue of changing payload. Both methods are based on hybrid calibration. The first one uses previously-acquired knowledge to drastically reduce the number of measurements necessary to update a trained learning model with another payload. The second one uses a model trained separately for two different payloads and interpolates the outputs to compensate for new payloads without any additional measurement. The datasets used are available at: https://doi. org/10.57745/DWUC0H. The methods have been experimentally validated using a compensation algorithm and compared to other approaches, and show that the positioning error can be reduced by 95%. http://hdl.handle.net/10985/11406 Toward on-line robot vibratory modes estimation DELPOUX, Romain; OLABI, Adel; BEAREE, Richard; GIBARU, Olivier This paper is concerned with preliminaries results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and an external measure at the tool-tip of the robot arm. In this article the external measurement is provided by a laser tracker. The isolation of the oscillation permits to identify the vibratory mode, i.e. the natural frequency and the damping ratio of the undesired phenomena. Here we propose a comparison between the algebraic method and the sliding modes for the parameter identification. This comparison is motivated by the fact that both methods provide finite time convergence. Experimental identifications are proposed on a 6 degrees of freedom (DOF) manipulator robot, St¨aubli RX-170B. Wed, 01 Jan 2014 00:00:00 GMT http://hdl.handle.net/10985/11406 2014-01-01T00:00:00Z DELPOUX, Romain OLABI, Adel BEAREE, Richard GIBARU, Olivier This paper is concerned with preliminaries results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and an external measure at the tool-tip of the robot arm. In this article the external measurement is provided by a laser tracker. The isolation of the oscillation permits to identify the vibratory mode, i.e. the natural frequency and the damping ratio of the undesired phenomena. Here we propose a comparison between the algebraic method and the sliding modes for the parameter identification. This comparison is motivated by the fact that both methods provide finite time convergence. Experimental identifications are proposed on a 6 degrees of freedom (DOF) manipulator robot, St¨aubli RX-170B.