IMPROVING ROBOTIZED NON DESTRUCTIVE TESTING FOR LARGE PARTS WITH LOCAL SURFACE APPROXIMATION AND FORCE CONTROL SCHEME

Olivier Patrouix (1) , Sébastien Bottecchia (1) , Joseph Canou (1)

1 ESTIA INSTITUTE OF TECHNOLOGY

The carbon fiber parts are taking more and more importance in the aeronautical field as aircraft makers are chasing the weight to comply with some of the environmental constraints. Due to certifications, composite parts, like metallic ones, need to be quality controlled. To reduce production cost, composite parts must be controlled during the machining process, and nowadays industrial have a growing interest in this process automation with robotic systems. But this implies specific constraints: for example, the shape of a body panel without its stiffeners differs from CAD model however geometric parameters have to be verified. We will present in this article the methodology used for the automation of the Non Destructive Testing (NDT) focusing on 3 main topics: * Misalignment between CAD based robot trajectories and product to be tested, * Local 3D surface approximation and sensor based robot control, * Hybrid force-position robot control.

Mots clés: Robotics; NDT; 3D surface approximation; force/position hybrid control

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]; Traitement du signal et de l'image [eess.SP]; Traitement du signal et de l'image [eess.SP]; Automatique / Robotique

Olivier Patrouix, Sébastien Bottecchia, Joseph Canou. IMPROVING ROBOTIZED NON DESTRUCTIVE TESTING FOR LARGE PARTS WITH LOCAL SURFACE APPROXIMATION AND FORCE CONTROL SCHEME. THE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, Jul 2013, Canada. pp.7913-7921. ⟨hal-00912656⟩