Simulation results using a robot with flexibilities for machining and welding

Alexandr Klimchik (1, 2) , Anatol Pashkevich (1, 2) , Sébastien Garnier (1) , Stéphane Caro (1) , François Leonard (3) , Gabriel Abba (3) , Jinna Qin (3)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 Mines Nantes - Mines Nantes
3 LCFC - Laboratoire de Conception Fabrication Commande

The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process.This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings.The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior.

Mots clés: Robot simulator; Flexibility modelling; Kuba robot controller; Robot machining; Robotized FSW; Simulateur de robot; Modélisation des flexibilités; Commande robot kuka; Usinage robotisé; FSW robotisé

Domaines: Automatique / Robotique

Alexandr Klimchik, Anatol Pashkevich, Sébastien Garnier, Stéphane Caro, François Leonard, et al.. Simulation results using a robot with flexibilities for machining and welding. [Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014. ⟨hal-01092142⟩