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Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell

Abstract : The paper proposes a methodology for optimal coordination of motions in robotic systems with multiple redundant actuators. In contrast to our previous results dealing with a single redundant axis, the extended technique is proposed allowing the robot, positioner and linear track to be actuated simultaneously in order to reduce the total processing time. The developed technique transforms the original continuous problem into a discrete one where the desired time-optimal motions are presented as a shortest path on the task graph satisfying the problem-specific acceleration and velocity constraints imposed on the joint coordinates. The desired time optimal motions are generated using enhanced dynamic programming algorithm that considers both of these constraints. Two case studies are presented to demonstrate efficiency of the approach and evaluate benefits of simultaneous actuation of all robotic system axes.
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Contributor : Stéphane Caro <>
Submitted on : Thursday, August 23, 2018 - 6:47:55 PM
Last modification on : Wednesday, June 24, 2020 - 4:19:37 PM
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  • HAL Id : hal-01860838, version 1

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Jiuchun Gao, Anatol Pashkevich, Marco Cicellini, Stéphane Caro. Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell. The 15th International Conference of Informatics in Control, Automation and Robotics (ICINCO 2018), Jul 2018, Porto, Portugal. ⟨hal-01860838⟩

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