Redundancy-based optimization approach to optimize robotic cell behaviour: application to robotic machining

Laurent Sabourin, Kévin Subrin, Richard Cousturier, Grigore Gogu, Youcef Mezouar

Abstract: The robot offers interesting capabilities, but suffers from a lack of stiffness. The proposed solution is to introduce redundancies for the overall improvement of different capabilities. The management of redundancy associated with the definition of a set of kinematic, mechanical and stiffness criteria enables path planning to be optimized. , – The resolution method is based on the projection onto the kernel of the Jacobian matrix of the gradient of an objective function constructed by aggregating kinematic, mechanical and stiffness weighted criteria. Optimized redundancy management is applied to the 11-DoF (degrees of freedom) cells to provide an efficient placement of turntable and track. The final part presents the improvement of the various criteria applied to both 9-DoF and 11-DoF robotic cells. , – The first application concerns the optimized placement of a turntable and a linear track using 11-DoF architecture. Improved criteria for two 9-DoF robotic cells, a robot with parallelogram closed loop and a Tricept are also presented. Simulation results present the contributions of redundancies and the leading role of the track. , – The redundancy-based optimization presented and the associated simulation approach must be completed by the experimental determination of the optimization criteria to take into account each machining strategy. , – This work in robotics machining relates to milling operations for automotive and aerospace equipment. The study is carried out within the framework of the RobotEx Equipment of Excellence programme. , – The resolution method to optimized path planning is applied to 9- and 11-DoF robotic cells, including a hybrid robot with a parallelogram closed loop and a Tricept PKM.