Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl'Bot Robot - Archive ouverte HAL
Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2023

Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl'Bot Robot

Résumé

Abstract In manufacturing industry, Computer Numerical Control (CNC) machines are often preferred over Industrial Serial Robots (ISR) for machining tasks. Indeed, CNC machines offer high positioning accuracy, which leads to slight dimensional deviation on the final product. However, these machines have a restricted workspace generating limitations in the machining work. Conversely, ISR are typically characterized by a larger workspace. ISR have already shown satisfactory performance in tasks like polishing, grinding and deburring. This paper proposes a kinematic redundant robot composed of a novel two degrees-of-freedom mechanism with a closed-loop kinematic chain. After describing a task priority inverse kinematic control framework used for joint trajectory planning exploiting the robot kinematic redundancy, the paper analyses the kinetostatic performance of this robot depending on the considered control tasks. Moreover, two kinetostatic tasks are introduced and employed to improve the robot performance. Simulation results show how the robot better performs when the optimization tasks are active.

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Analyse classique [math.CA]
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https://hal.science/hal-04045046

Soumis le : lundi 27 mars 2023-12:43:02

Dernière modification le : vendredi 15 novembre 2024-10:33:24

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Dates et versions

hal-04045046 , version 1 (27-03-2023)

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Domaine public

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Angelica Ginnante, Stéphane Caro, Enrico Simetti, François Leborne. Kinetostatic Optimization for Kinematic Redundancy Planning of Nimbl'Bot Robot. Journal of Mechanisms and Robotics, 2023, pp.1-20. ⟨10.1115/1.4056830⟩. ⟨hal-04045046⟩

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