Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process

Jiuchun Gao (1) , Anatol Pashkevich (2, 3) , Stéphane Caro (1, 4)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe ReV - Robotique Et Vivant
3 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique
4 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services

This paper proposes a new methodology for motion planning in redundant robotic system for the high-speed fiber placement technology. The considered system is composed of a 6-axis industrial robot and a one-axis actuated positioner. Compared to the previous works assuming constant rate, the particularity of this work lies in the time-optimal motion coordination based on the combinatorial optimization and the polynomial approximation techniques. Advantages of the developed technique are confirmed by an application example that deals with a planar robotic system for fiber placement.

Mots clés: Redundant robotic system; Fiber placement; Motion planning; Dynamic programming

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]

Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process. Wenger P.; Flores P. New Trends in Mechanism and Machine Science. , 43, Springer, pp.243-252, 2017, Mechanisms and Machine Science, 9783319441559. ⟨10.1007/978-3-319-44156-6_25⟩. ⟨hal-01692533⟩