Optimal task placement and redundancy management

Stéphane Caro (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This deliverable introduces a methodology that aims to determine the best placement of the workpiece to be machined knowing the cutting forces exerted on the tool and the elastostatic model of the robot. A machining quality criterion is proposed and an optimization problem is formulated and solved. The KUKAKR270-2 robot is used as an illustrative example throughout the report. A workpiece test and the cutting forces applied by the workpiece on the tool along the machined path are given as an illustrative example. Then, a mono-objective optimization problem is formulated and solved in order to find the optimum placement of the workpiece test with regard to a proposed machining quality criterion. As a result, the optimum and the worst workpiece placements are illustrated within the robotic cell. Moreover, the best and the worst redundancy planning schemes associated with those placements are determined.

Mots clés: Optimal task placement; Robot redundancy

Domaines: Automatique / Robotique

Stéphane Caro. Optimal task placement and redundancy management. [Research Report] ANR‐10‐SEGI‐003, Agence Nationale de la Recherche. 2014. ⟨hal-01092161⟩