Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2018

Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels

Résumé

The paper proposes a technique for optimal motions generation in redundant robotic tape winding systems for manufacturing of high-pressure composite vessels. It also presents two industrial case studies dealing with the motion generation for basic types of winding lamina, helical and circumferential. The developed technique transforms the original continuous problem into a discrete one where the desired time-optimal motions are presented as a shortest path on the task graph satisfying the problem-specific acceleration and velocity constraints imposed on the joint coordinates. It allows generating the optimal trajectories using enhanced dynamic programming algorithm that considers both of these constraints. Efficiency of the developed technique is confirmed by simulation studies.
Fichier principal
Vignette du fichier
SYROCO2018_Gao_Pashkevich_Cicellini_Caro_HAL.pdf (1.32 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01862018 , version 1 (26-08-2018)

Identifiants

Citer

Jiuchun Gao, Anatol Pashkevich, Marco Cicellini, Stéphane Caro. Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels. SYROCO 2018 : 12th IFAC Symposium On Robot Control, IFAC, Aug 2018, Budapest, Hungary. ⟨10.1016/j.ifacol.2018.11.516⟩. ⟨hal-01862018⟩
108 Consultations
140 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More