V. Robin, L. Sabourin, and G. Gogu (France)
Optimization, kinematics redundancy, process constraints
This article presents a multi-objective optimization ap proach used for redundancy resolution on a robotised cell. The cell is dedicated to finishing operations by machining and polishing, on large cast aluminium parts. We first formalise the main constraints related to the process and to the cell. We then describe our optimization, kinematics and precision criteria as well as the multi-objective method developed. This method is also validated by cell simulation and tests on industrial parts. The study was carried out in collaboration with the Société des Fonderies d'Ussel (SFU), part of the Alcan group. The applications relate to aeronautical, energy and transport activities.
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