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

Jiuchun Gao 1, 2 Anatol Pashkevich 3, 2 Marco Cicellini 4, 5 Stéphane Caro 6, 5, 7
1 Commande - Commande
LS2N - Laboratoire des Sciences du Numérique de Nantes
2 DAPI - Département Automatique, productique et informatique
3 ReV - Robotique Et Vivant
LS2N - Laboratoire des Sciences du Numérique de Nantes
4 ECN - École Centrale de Nantes
5 LS2N - Laboratoire des Sciences du Numérique de Nantes
6 RoMas - Robots and Machines for Manufacturing, Society and Services
LS2N - Laboratoire des Sciences du Numérique de Nantes
7 CNRS - Centre National de la Recherche Scientifique
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.
Keywords : Redundant robotic system Time-optimal motion High-pressure composite vessel 
Type de document :
Communication dans un congrès
The 12th IFAC Symposium On Robot Control (SYROCO 2018), Aug 2018, Budapest, Hungary. 2018
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https://hal.archives-ouvertes.fr/hal-01862018
Contributeur : Stéphane Caro <>
Soumis le : dimanche 26 août 2018 - 14:33:30
Dernière modification le : mardi 8 janvier 2019 - 14:51:03
Document(s) archivé(s) le : mardi 27 novembre 2018 - 12:31:31

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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), Aug 2018, Budapest, Hungary. 2018. 〈hal-01862018〉

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