Optimal task placement and redundancy management
Rapport de recherche
Date
2014Résumé
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 ...
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- 3.343Mo
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- Description:
- COROUSSO livrable 1.5
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