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Authors: Jiuchun Gao 1 ; Anatol Pashkevich 1 ; Marco Cicellini 1 and Stéphane Caro 2

Affiliations: 1 Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut Mines-Télécom Atlantique, Nantes and France ; 2 Laboratoire des Sciences du Numérique de Nantes (LS2N), Centre National de la Recherche Scientifique, Nantes and France

Keyword(s): Redundant Robotic System, Composite Fiber Placement, Optimal Motion Coordination.

Related Ontology Subjects/Areas/Topics: Computer-Based Manufacturing Technologies ; Industrial Automation and Robotics ; Industrial Engineering ; Informatics in Control, Automation and Robotics

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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Paper citation in several formats:
Gao, J.; Pashkevich, A.; Cicellini, M. and Caro, S. (2018). Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 567-575. DOI: 10.5220/0006848105670575

@conference{icinco18,
author={Jiuchun Gao. and Anatol Pashkevich. and Marco Cicellini. and Stéphane Caro.},
title={Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2018},
pages={567-575},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006848105670575},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Optimal Coordination of Robot Motions with Positioner and Linear Track in a Fiber Placement Workcell
SN - 978-989-758-321-6
IS - 2184-2809
AU - Gao, J.
AU - Pashkevich, A.
AU - Cicellini, M.
AU - Caro, S.
PY - 2018
SP - 567
EP - 575
DO - 10.5220/0006848105670575
PB - SciTePress

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