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Optimal control of robotic manipulator for laser cutting applications

Abstract : The paper focuses on the enhancement of automatic robot programming techniques for laser cutting application. Its particular contribution lies in the area of multiobjective optimization of robot motions via graph representation of the search space and the dynamic programming procedures. It have been developed algorithms that allow to generate smooth manipulator trajectories within acceptable time, simultaneously considering kinematic, collision and singularities constraints of the robotic system, as well as the limitations of the robot controller. The efficiency of the algorithms has been carefully investigated via computer simulation and verified for real-life applications in automotive industry.
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Submitted on : Friday, June 15, 2012 - 3:28:47 PM
Last modification on : Wednesday, August 4, 2021 - 3:42:04 PM



Anatol Pashkevich, Alexandre Dolgui, Oleg Chumakov. Optimal control of robotic manipulator for laser cutting applications. 15th IFAC World Congress, Jul 2002, Barcelone, Spain. 6p, ⟨10.3182/20020721-6-ES-1901.00967⟩. ⟨emse-00708710⟩



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