Abstract
This paper proposes a new methodology for motion planning in redundant robotic system for the high-speed fiber placement technology. The considered system is composed of a 6-axis industrial robot and a one-axis actuated positioner. Compared to the previous works assuming constant rate, the particularity of this work lies in the time-optimal motion coordination based on the combinatorial optimization and the polynomial approximation techniques. Advantages of the developed technique are confirmed by an application example that deals with a planar robotic system for fiber placement.
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Acknowledgments
This work is supported by the China Scholarship Council (Grant N° 201404490018). The authors also acknowledge CETIM for the motivation of this research work.
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Gao, J., Pashkevich, A., Caro, S. (2017). Manipulator Motion Planning in Redundant Robotic System for Fiber Placement Process. In: Wenger, P., Flores, P. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 43. Springer, Cham. https://doi.org/10.1007/978-3-319-44156-6_25
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DOI: https://doi.org/10.1007/978-3-319-44156-6_25
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