Improving accuracy in robotized fibre placement using force and visual servoing external hybrid control scheme

Maylis Uhart (1, 2) , Olivier Patrouix (1) , Yannick Aoustin (3)

1 ESTIA INSTITUTE OF TECHNOLOGY
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
3 Robotique

Composite materials are increasingly used in the demanding field of aeronautics. To meet this growing need, the company Coriolis Composites has developed an Automated Fibre Placement device already on the market. This process uses an industrial manipulator robot. This fibre placement task requires a compacting strength adapted to the material used. For the robot, the reference trajectories in position of each tape are prescribed off-line. However, accuracy problems of tape placement appear. This paper shows the use of force servoing to control the compacting strength and the use of visual servoing to control the lateral position of the tape in order to improve the fibre placement accuracy and then the quality of manufactured parts.

Mots clés: Robotised Fibre Placement; Accuracy; Position-Force-Visual hybrid control; Sensor integration

Domaines: Robotique [cs.RO]

Maylis Uhart, Olivier Patrouix, Yannick Aoustin. Improving accuracy in robotized fibre placement using force and visual servoing external hybrid control scheme. 2014. ⟨hal-01060750v1⟩