An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining

Richard Béarée (1) , Jean-Yves Dieulot (2) , Patrice Rabate (3)

1 LSIS- INSM - Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques
2 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
3 EADS Innovation Works [Toulouse]

A new and fast registration algorithm has been proposed to update the tool-path of a deburring robot, intended to machining composite workpieces under gravity and clamping deformations. A Subdivision Iterative Closest Point algorithm, which considers different parts of the contour with respect to curvature, allows to obtain far better results than classical methods, without complicated assumptions or computations. The procedure has shown to be effective for porthole and nose-cone deburring. Experimental tests conducted on robotic milling workcell demonstrated the efficiency of the registration method.

Mots clés: Iterative Closest Point; Aeronautics

Domaines: Optimisation et contrôle [math.OC]; Automatique; Ingénierie assistée par ordinateur; Modélisation et simulation

Richard Béarée, Jean-Yves Dieulot, Patrice Rabate. An innovative subdivision-ICP registration method for tool-path correction applied to deformed aircraft parts machining. International Journal of Advanced Manufacturing Technology, 2010, 53 (5-8), pp.463-471. ⟨10.1007/s00170-010-2875-0⟩. ⟨hal-00939921⟩