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Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-01692533
Contributor : Anatol Pashkevich Connect in order to contact the contributor
Submitted on : Friday, May 4, 2018 - 3:00:28 PM
Last modification on : Wednesday, April 27, 2022 - 4:18:24 AM
Long-term archiving on: : Monday, September 24, 2018 - 8:00:33 PM

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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⟩

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