<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-00926215</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-04-28T17:05:58+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Off-line compensation of the tool path deviations on robotic machining : Application to incremental sheet forming</title>
            <author role="aut">
              <persName>
                <forename type="first">Jérémy</forename>
                <surname>Belchior</surname>
              </persName>
              <idno type="halauthorid">740236-0</idno>
              <affiliation ref="#struct-25157"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Mario</forename>
                <surname>Guillo</surname>
              </persName>
              <idno type="halauthorid">740256-0</idno>
              <affiliation ref="#struct-241122"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Eric</forename>
                <surname>Courteille</surname>
              </persName>
              <email type="md5">ff49766469b69703eb0447a1cf469200</email>
              <email type="domain">insa-rennes.fr</email>
              <idno type="idhal" notation="string">eric-courteille</idno>
              <idno type="idhal" notation="numeric">173925</idno>
              <idno type="halauthorid" notation="string">439621-173925</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-8780-2732</idno>
              <idno type="IDREF">https://www.idref.fr/095301682</idno>
              <affiliation ref="#struct-25157"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Patrick</forename>
                <surname>Maurine</surname>
              </persName>
              <idno type="halauthorid">172520-0</idno>
              <affiliation ref="#struct-25157"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Lionel</forename>
                <surname>Leotoing</surname>
              </persName>
              <email type="md5">55cbadb37ad53e335ade5189cda318f3</email>
              <email type="domain">insa-rennes.fr</email>
              <idno type="idhal" notation="string">lionel-leotoing</idno>
              <idno type="idhal" notation="numeric">174093</idno>
              <idno type="halauthorid" notation="string">319-174093</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9808-975X</idno>
              <idno type="IDREF">https://www.idref.fr/071601724</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-0972-0747</idno>
              <affiliation ref="#struct-25157"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Dominique</forename>
                <surname>Guines</surname>
              </persName>
              <email type="md5">a11f1f3c30530aaa358afb16c11e00be</email>
              <email type="domain">insa-rennes.fr</email>
              <idno type="idhal" notation="string">dominique-guines</idno>
              <idno type="idhal" notation="numeric">180852</idno>
              <idno type="halauthorid" notation="string">16530-180852</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5853-5636</idno>
              <affiliation ref="#struct-25157"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Emilie</forename>
                <surname>Marie</surname>
              </persName>
              <email type="md5">dcb7a3c8edfda7a2af80cd1172d3102e</email>
              <email type="domain">insa-rennes.fr</email>
            </editor>
            <funder>FEDER funds</funder>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2014-01-09 16:25:06</date>
              <date type="whenWritten">2012-09-21</date>
              <date type="whenModified">2025-03-03 16:32:20</date>
              <date type="whenReleased">2014-01-10 10:21:41</date>
              <date type="whenProduced">2013-08</date>
              <date type="whenEndEmbargoed">2014-01-09</date>
              <ref type="file" target="https://hal.science/hal-00926215v1/document">
                <date notBefore="2014-01-09"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://hal.science/hal-00926215v1/file/Preprint.pdf" id="file-926215-291845">
                <date notBefore="2014-01-09"/>
              </ref>
              <ref type="externalLink" target="https://hal.archives-ouvertes.fr/hal-00926215/file/Preprint.pdf"/>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="112043">
                <persName>
                  <forename>Emilie</forename>
                  <surname>Marie</surname>
                </persName>
                <email type="md5">dcb7a3c8edfda7a2af80cd1172d3102e</email>
                <email type="domain">insa-rennes.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-00926215</idno>
            <idno type="halUri">https://hal.science/hal-00926215</idno>
            <idno type="halBibtex">belchior:hal-00926215</idno>
            <idno type="halRefHtml">&lt;i&gt;Robotics and Computer-Integrated Manufacturing&lt;/i&gt;, 2013, 29 (4), pp.58-69. &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.rcim.2012.10.008"&gt;&amp;#x27E8;10.1016/j.rcim.2012.10.008&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Robotics and Computer-Integrated Manufacturing, 2013, 29 (4), pp.58-69. &amp;#x27E8;10.1016/j.rcim.2012.10.008&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-926215-291845"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UNIV-RENNES1">Université de Rennes 1</idno>
            <idno type="stamp" n="INSA-RENNES">Institut National des Sciences Appliquées de Rennes</idno>
            <idno type="stamp" n="LGCGM-INSA" corresp="LGCGM">Laboratoire de Génie Civil et Génie Mécanique</idno>
            <idno type="stamp" n="LGCGM">Laboratoire de Génie Civil et Génie Mécanique</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="UR1-HAL">Publications labos UR1 dans HAL-Rennes 1</idno>
            <idno type="stamp" n="UR1-SDLM">UR1 - publications SDLM</idno>
            <idno type="stamp" n="UR1-SDLMJONCH">UR1 - publications SDLM</idno>
            <idno type="stamp" n="TEST-UNIV-RENNES">TEST Université de Rennes</idno>
            <idno type="stamp" n="TEST-UR-CSS">TEST Université de Rennes CSS</idno>
            <idno type="stamp" n="UNIV-RENNES">Université de Rennes</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="UR1-MMS">Pôle UnivRennes - Matériaux</idno>
            <idno type="stamp" n="LGCGM-INSA-COR" corresp="INSA-RENNES">LGCGM-INSA correction</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">Off-line compensation of the tool path deviations on robotic machining : Application to incremental sheet forming</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Jérémy</forename>
                    <surname>Belchior</surname>
                  </persName>
                  <idno type="halauthorid">740236-0</idno>
                  <affiliation ref="#struct-25157"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Mario</forename>
                    <surname>Guillo</surname>
                  </persName>
                  <idno type="halauthorid">740256-0</idno>
                  <affiliation ref="#struct-241122"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Eric</forename>
                    <surname>Courteille</surname>
                  </persName>
                  <email type="md5">ff49766469b69703eb0447a1cf469200</email>
                  <email type="domain">insa-rennes.fr</email>
                  <idno type="idhal" notation="string">eric-courteille</idno>
                  <idno type="idhal" notation="numeric">173925</idno>
                  <idno type="halauthorid" notation="string">439621-173925</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-8780-2732</idno>
                  <idno type="IDREF">https://www.idref.fr/095301682</idno>
                  <affiliation ref="#struct-25157"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Patrick</forename>
                    <surname>Maurine</surname>
                  </persName>
                  <idno type="halauthorid">172520-0</idno>
                  <affiliation ref="#struct-25157"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Lionel</forename>
                    <surname>Leotoing</surname>
                  </persName>
                  <email type="md5">55cbadb37ad53e335ade5189cda318f3</email>
                  <email type="domain">insa-rennes.fr</email>
                  <idno type="idhal" notation="string">lionel-leotoing</idno>
                  <idno type="idhal" notation="numeric">174093</idno>
                  <idno type="halauthorid" notation="string">319-174093</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9808-975X</idno>
                  <idno type="IDREF">https://www.idref.fr/071601724</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-0972-0747</idno>
                  <affiliation ref="#struct-25157"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Dominique</forename>
                    <surname>Guines</surname>
                  </persName>
                  <email type="md5">a11f1f3c30530aaa358afb16c11e00be</email>
                  <email type="domain">insa-rennes.fr</email>
                  <idno type="idhal" notation="string">dominique-guines</idno>
                  <idno type="idhal" notation="numeric">180852</idno>
                  <idno type="halauthorid" notation="string">16530-180852</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5853-5636</idno>
                  <affiliation ref="#struct-25157"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">8288</idno>
                <idno type="issn">0736-5845</idno>
                <idno type="eissn">1879-2537</idno>
                <title level="j">Robotics and Computer-Integrated Manufacturing</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <biblScope unit="volume">29</biblScope>
                  <biblScope unit="issue">4</biblScope>
                  <biblScope unit="pp">58-69</biblScope>
                  <date type="datePub">2013-08</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.rcim.2012.10.008</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">Incremental sheet forming</term>
                <term xml:lang="en">Off-line compensation</term>
                <term xml:lang="en">Stiffness identification</term>
                <term xml:lang="en">Robot calibration</term>
                <term xml:lang="en">Elastic modeling</term>
                <term xml:lang="en">Robot machining</term>
              </keywords>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>In this paper, a coupling methodology is involved and improved to correct the tool path deviations induced by the compliance of industrial robots during an incremental sheet forming task. For that purpose, a robust and systematic method is first proposed to derive the elastic model of their structure and an efficient FE simulation of the process is then used to predict accurately the forming forces. Their values are then defined as the inputs of the proposed elastic model to calculate the robot TCP pose errors induced by the elastic deformations. This avoid thus a first step of measurement of the forces required to form a test part with a stiff machine. An intensive experimental investigation is performed by forming a classical frustum cone and a non-symetrical twisted pyramid. It validates the robustness of both the FE analysis and the proposed elastic modeling allowing the final geometry of the formed parts to converge towards their nominal specifications in a context of prototyping applications.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-25157" status="VALID">
          <idno type="IdRef">171671376</idno>
          <idno type="RNSR">200415172D</idno>
          <idno type="ROR">https://ror.org/03x0g1010</idno>
          <orgName>Laboratoire de Génie Civil et Génie Mécanique</orgName>
          <orgName type="acronym">LGCGM</orgName>
          <date type="start">2008-01-01</date>
          <desc>
            <address>
              <addrLine>20, Avenue des Buttes de Coësmes CS 14315 F - 35043 Rennes Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.insa-rennes.fr/lgcgm</ref>
          </desc>
          <listRelation>
            <relation name="UR3913" active="#struct-105160" type="direct"/>
            <relation active="#struct-117606" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-241122" status="INCOMING">
          <orgName>Institut Maupertuis</orgName>
          <desc>
            <address>
              <addrLine>Contour Antoine de St-Exupéry Campus de Ker Lann, 35170 Bruz</addrLine>
              <country key="FR"/>
            </address>
          </desc>
          <listRelation>
            <relation active="#struct-357806" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-105160" status="VALID">
          <idno type="IdRef">26693823X</idno>
          <idno type="ROR">https://ror.org/015m7wh34</idno>
          <orgName>Université de Rennes</orgName>
          <orgName type="acronym">UR</orgName>
          <desc>
            <address>
              <addrLine>Campus de Beaulieu, 263 avenue Général Leclerc, CS 74205, 35042 RENNES CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.univ-rennes.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-117606" status="VALID">
          <idno type="ROR">https://ror.org/04xaa4j22</idno>
          <orgName>Institut National des Sciences Appliquées - Rennes</orgName>
          <orgName type="acronym">INSA Rennes</orgName>
          <desc>
            <address>
              <addrLine>20, avenue des Buttes de Coësmes - CS 70839 - 35708 Rennes cedex 7</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.insa-rennes.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="institution" xml:id="struct-357806" status="INCOMING">
          <orgName>Institut Maupertuis</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>