Laboratoire de Conception Fabrication Commande (LCFC): Soumissions récentes

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    • A Novel Approach for Simplification of Industrial Robot Dynamic Model Using Interval Method 
      Communication avec acte
      WANG, Ke; LEONARD, François; ABBA, Gabriel (IEEE/ASME, 2014)
      This paper proposes a new approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities, some components of robot dynamic model such as the inertia matrix and the ...
    • Nonlinear Discrete Observer for Flexibility Compensation of Industrial Robots 
      Communication avec acte
      QIN, Jinna; LEONARD, François; ABBA, Gabriel (Elsevier/International Federation of Automatic Control, 2014)
      This paper demonstrates the solutions of digital observer implementation for industrial applications. A nonlinear high-gain discrete observer is proposed to compensate the tracking error due to the flexibility of robot ...
    • Tools for the identification of robot stiffness parameters using CAD software 
      Rapport de recherche
      KLIMCHIK, Alexandr; PASHKEVICH, Anatol (ABBA Gabriel, 2012)
      This report proposes a CAD-based approach for identification of the elasto-static parameters of the robotic manipulators. The main contributions are in the areas of virtual experiment planning and algorithmic data processing, ...
    • Robot comparison based on local and global indices proposed and related to FSW welding and machining 
      Rapport de recherche
      CARO, Stéphane; PASHKEVICH, Anatol; ABBA, Gabriel (2014)
      This deliverable deals with the comparison of robots as a function of local and global indices related to machining operations of metallic and composite parts and friction stir welding. Some typical industrial operations ...
    • Model of dynamic interactions 
      Rapport de recherche
      KLIMCHIK, Alexandr; PASHKEVICH, Anatol; CARO, Stéphane (ABBA Gabriel, 2013)
      In robotic-based machining, an interaction between the workpiece and technological tool causes essential deflections that significantly decrease the manufacturing accuracy. Relevant compliance errors highly depend on the ...
    • Influence de la géométrie de l’outil sur la robustesse du FSW robotisé 
      Rapport de recherche
      JEMAL, Nejah; BEN ATTAR, Amarilys; ccLANGLOIS, Laurent; ZIMMER-CHEVRET, Sandra (2014)
      En soudage par friction malaxage (Friction Stir Welding, FSW), l’outil est l’acteur principal de l’opération. Dans sa configuration conventionnelle, l’outil FSW n’est pas considéré comme un consommable lors du soudage des ...
    • Optimal Walking of an Underactuated Planar Biped with Segmented Torso 
      Communication avec acte
      CHEN, Zhongkai; LAKBAKBI EL YAAQOUBI, Nafissa; ABBA, Gabriel (SciTePress, 2014)
      Recently, underactuated bipeds with pointed feet have been studied to achieve dynamic and energy efficient robot walking patterns. However, these studies usually simplify a robot torso as one link, which is different from ...