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Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels

Abstract : The paper proposes a technique for optimal motions generation in redundant robotic tape winding systems for manufacturing of high-pressure composite vessels. It also presents two industrial case studies dealing with the motion generation for basic types of winding lamina, helical and circumferential. 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. It allows generating the optimal trajectories using enhanced dynamic programming algorithm that considers both of these constraints. Efficiency of the developed technique is confirmed by simulation studies.
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https://hal.archives-ouvertes.fr/hal-01862018
Contributor : Stéphane Caro <>
Submitted on : Sunday, August 26, 2018 - 2:33:30 PM
Last modification on : Thursday, February 27, 2020 - 1:15:27 AM
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  • HAL Id : hal-01862018, version 1

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Jiuchun Gao, Anatol Pashkevich, Marco Cicellini, Stéphane Caro. Optimization of Robot and Positioner Motions in Manufacturing of High-pressure Composite Vessels. The 12th IFAC Symposium On Robot Control (SYROCO 2018), IFAC, Aug 2018, Budapest, Hungary. ⟨hal-01862018⟩

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