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

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.