Pressure based approach for Automated Fiber Placement (AFP) with sensor based feedback loop and flexible component in the effector

Itzel de Jesus Gonzalez Ojeda; Olivier Patrouix; Yannick Aoustin

doi:10.1016/j.ifacol.2017.08.511

Pressure based approach for Automated Fiber Placement (AFP) with sensor based feedback loop and flexible component in the effector

Itzel de Jesus Gonzalez Ojeda
, Olivier Patrouix
, Yannick Aoustin

Nantes Université
Institut de Recherche en Communications et Cybernétiques de Nantes (IRCCyN)

Research output: Contribution to journal › Article › peer-review

13 Citations (Scopus)

Abstract

New applications for robots include tasks that were performed by specialized machines such as polish, milling, placement of fibers, among others. The implementation using robots in these new applications has the inaccuracies problems due to the flexibilities within the robot arm or the tooling when external forces are applied. The industrial robot controller does not take into account the flexibilities and the external forces. This paper is an introduction to the work done to improve the precision in the robotic fiber placement, taking into account the deformation in the compaction roller.

Original language	English
Pages (from-to)	794-799
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.511
Publication status	Published - Jul 2017
Externally published	Yes

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

artificial neural network
automatic fiber placement
hybrid force control
hybrid pressure control
model elastic-static

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10.1016/j.ifacol.2017.08.511

Cite this

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abstract = "New applications for robots include tasks that were performed by specialized machines such as polish, milling, placement of fibers, among others. The implementation using robots in these new applications has the inaccuracies problems due to the flexibilities within the robot arm or the tooling when external forces are applied. The industrial robot controller does not take into account the flexibilities and the external forces. This paper is an introduction to the work done to improve the precision in the robotic fiber placement, taking into account the deformation in the compaction roller.",

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AU - Patrouix, Olivier

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AB - New applications for robots include tasks that were performed by specialized machines such as polish, milling, placement of fibers, among others. The implementation using robots in these new applications has the inaccuracies problems due to the flexibilities within the robot arm or the tooling when external forces are applied. The industrial robot controller does not take into account the flexibilities and the external forces. This paper is an introduction to the work done to improve the precision in the robotic fiber placement, taking into account the deformation in the compaction roller.

KW - artificial neural network

KW - automatic fiber placement

KW - hybrid force control

KW - hybrid pressure control

KW - model elastic-static

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Pressure based approach for Automated Fiber Placement (AFP) with sensor based feedback loop and flexible component in the effector

Abstract

UN SDGs

Keywords

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