Computer-aided design and optimization of a redundant robotic system for automated fiber placement process

Abstract : This paper proposes a comprehensive methodology for the computer-aided design and optimization of a robotic workcell for the automated fiber placement. The robotic cell, comprising of a 6-axis industrial manipulator and an actuated positioner, is kinematically redundant with respect to the considered task. An efficient optimization technique for managing these kinematic redundancies is proposed. The robot/positioner motion planning and robotic cell layout design in a CAD environment are presented. To confirm validity of the developed methodology, experimental results are presented that deal with automation of thermoplastic fiber placement process.
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https://hal.archives-ouvertes.fr/hal-01980737
Contributor : Anatol Pashkevich <>
Submitted on : Monday, January 14, 2019 - 4:20:37 PM
Last modification on : Tuesday, March 26, 2019 - 9:25:22 AM

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Divia Shah, Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoit Courtemanche. Computer-aided design and optimization of a redundant robotic system for automated fiber placement process. AIP Conference Proceedings, Jul 2018, Surabaya, Indonesia. ⟨10.1063/1.5046258⟩. ⟨hal-01980737⟩

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