Task-priority based redundancy control of robot manipulators
International Journal of Robotics Research
Trajectory generation for open-contoured structures in robotic fibre placement
Robotics and Computer-Integrated Manufacturing
Motion coordination for industrial robotic systems with redundant degrees of freedom
Robotics and Computer-Integrated Manufacturing
Optimization of 5-axis high-speed machining using a surface based approach
Computer-Aided Design
Modeling and adaptive control of redundant robots
Mathematics and Computers in Simulation
Determining the initial states in forward-backward filtering
IEEE Transactions on Signal Processing
A singularity-free motion control algorithm for robot manipulators-a hybrid system approach
Automatica (Journal of IFAC)
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Automated Tape Laying and Fiber Placement of composite materials are the two principal automated processes used for fabrication of large composite structures in aeronautical industry. The aluminum parts produced by High Speed Machining tend to be replaced by carbon fiber composite parts realized with these processes. However, structural parts present reinforcement zones which disturb the tool path follow-up and generate an increase of the manufacturing time. Thus, this paper deals with the optimization of tool paths of a 7-axis machine tool of Fiber Placement with the objective of reducing the manufacturing time while ensuring the requested quality of the final part. In this paper, two complementary methods are detailed. The first method takes advantage of the degree of redundancy of the machine tool to decrease the kinematic loads of the control joints. The second method aims to smooth the orientation of the machine head along the tool path while ensuring quality constraints. These two methods are then applied on a test tool path and bring to a significant decrease of the manufacturing time (32.9%).