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Optimal task placement and redundancy management

Rapport de recherche
Auteur
CARO, Stéphane
21439 Institut de Recherche en Communications et en Cybernétique de Nantes [IRCCyN]

URI
http://hdl.handle.net/10985/9079
Date
2014

Résumé

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.

Fichier(s) constituant cette publication

Nom:
LCFC_ANR-10-SEGI-003-LI1.5_201 ...
Taille:
3.343Mo
Format:
PDF
Description:
COROUSSO livrable 1.5
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Documents liés

Visualiser des documents liés par titre, auteur, créateur et sujet.

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    Rapport de recherche
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    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 
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    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 ...
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    Article dans une revue avec comité de lecture
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  • Multirate coupling of controlled rectifier and non-linear finite element model based on Waveform Relaxation Method 
    Article dans une revue avec comité de lecture
    HENNERON, Thomas; PIERQUIN, Antoine; BRISSET, Stéphane; ccCLENET, Stephane (Institute of Electrical and Electronics Engineers, 2016)
    To study a multirate system, each subsystem can be solved by a dedicated sofware with respect to the physical problem and the time constant. Then, the problem is the coupling of the solutions of the subsystems. The Waveform ...

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