UHART, Maylis; PATROUIX, Olivier; AOUSTIN, Yannick; CANOU, Joseph

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UHART, Maylis
Institut de Recherche en Communications et en Cybernétique de Nantes [IRCCyN]
ESTIA INSTITUTE OF TECHNOLOGY

PATROUIX, Olivier

ESTIA INSTITUTE OF TECHNOLOGY

AOUSTIN, Yannick

Langue

Communication dans un congrès

Ce document a été publié dans

INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, THE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, 2013-07-28, Montréal. 2013-07p. 778-786

Résumé en anglais

Material composites are increasingly used in the demanding field of aeronautics. To meet this growing need, Coriolis Composites has developed a solution of automated fiber placement named AFP. This system uses a manipulator arm composed of six axes. This fiber placement task requires a compacting strength adapted to the material used. The robot must keep in contact with the mold and control the compacting force. A manipulator arm is not made to work in force, so accuracy problems appear. Within this framework, the industrial project IMPALA was born in order to improve this new process. This paper shows the use of hybrid position-force control to handle the compacting strength in first time and to improve the fiber placement accuracy.< Réduire

Mots clés en anglais

Advanced Fiber Placement

Robotics

Accuracy

Position/Force hybrid control

URI

https://oskar-bordeaux.fr/handle/20.500.12278/203932

Unités de recherche

ESTIA - Recherche