Task-oriented rigidity optimization for 7 DOF redundant manipulators
TypeCommunications avec actes
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.
Files in this item
Showing items related by title, author, creator and subject.
BEAREE, Richard; OLABI, Adel; GIBARU, Olivier; DAMAK, Mohamed (ELSEVIER, 2010)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 ...
DELPOUX, Romain; BEAREE, Richard; OLABI, Adel; GIBARU, Olivier (2014)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 ...
BEAREE, Richard; OLABI, Adel (Elsevier, 2013)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 ...
OLABI, Adel; DAMAK, Mohamed; BEAREE, Richard; GIBARU, Olivier; LELEU, Stéphane (IEEE, 2013)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 ...
BUSSON, David; BEAREE, Richard (Institute of Electrical and Electronics Engineers (IEEE), 2018)Considering a set of robotic tasks which involve physical interaction with the environment, the theoretical knowledge of the full force capacity of the manipulator is a key factor in the design or development of an efficient ...