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Optimal Trajectories Generation in Robotic Fiber Placement Systems

Abstract : The paper proposes a methodology for optimal trajectories generation in robotic fiber placement systems. A strategy to tune the parameters of the optimization algorithm at hand is also introduced. The presented technique transforms the original continuous problem into a discrete one where the time-optimal motions are generated by using dynamic programming. The developed strategy for the optimization algorithm tuning allows essentially reducing the computing time and obtaining trajectories satisfying industrial constraints. Feasibilities and advantages of the proposed methodology are confirmed by an application example.
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Submitted on : Wednesday, April 4, 2018 - 10:29:20 AM
Last modification on : Wednesday, April 27, 2022 - 4:19:27 AM

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Jiuchun Gao, Anatol Pashkevich, Stéphane Caro. Optimal Trajectories Generation in Robotic Fiber Placement Systems. The 4th International Conference on Manufacturing and Industrial Technologies, May 2017, Lisbon, Portugal. ⟨10.1088/1757-899X/212/1/012009⟩. ⟨hal-01757920⟩

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