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Book Sections Year : 2017

Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process

Abstract

This paper proposes a new methodology for motion planning in redundant robotic system for the high-speed fiber placement technology. The considered system is composed of a 6-axis industrial robot and a one-axis actuated positioner. Compared to the previous works assuming constant rate, the particularity of this work lies in the time-optimal motion coordination based on the combinatorial optimization and the polynomial approximation techniques. Advantages of the developed technique are confirmed by an application example that deals with a planar robotic system for fiber placement.
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Dates and versions

hal-01692533 , version 1 (04-05-2018)

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Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process. Wenger P.; Flores P. New Trends in Mechanism and Machine Science. , 43, Springer, pp.243-252, 2017, Mechanisms and Machine Science, 9783319441559. ⟨10.1007/978-3-319-44156-6_25⟩. ⟨hal-01692533⟩
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