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.
Type de document :
Communication dans un congrès
15th IFAC World Congress, Jul 2002, Barcelone, Spain. 6p, 2003, 〈10.3182/20020721-6-ES-1901.00967〉
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https://hal-emse.ccsd.cnrs.fr/emse-00708710
Contributeur : Florent Breuil <>
Soumis le : vendredi 15 juin 2012 - 15:28:47
Dernière modification le : mardi 22 mars 2016 - 01:16:45

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A. Pashkevich, Alexandre Dolgui, Oleg Chumakov. Optimal control of robotic manipulator for laser cutting applications. 15th IFAC World Congress, Jul 2002, Barcelone, Spain. 6p, 2003, 〈10.3182/20020721-6-ES-1901.00967〉. 〈emse-00708710〉

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