Improving robotized non destructive testing for large parts with local surface approximation and force control scheme

PATROUIX, Olivier; BOTTECCHIA, Sébastien; CANOU, Joseph

ESTIA INSTITUTE OF TECHNOLOGY

BOTTECCHIA, Sébastien

ESTIA INSTITUTE OF TECHNOLOGY

CANOU, Joseph
ESTIA INSTITUTE OF TECHNOLOGY

Langue

Communication dans un congrès

Ce document a été publié dans

THE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, THE 19TH INTERNATIONAL CONFERENCE ON COMPOSITE MATERIALS, 2013-07-29, Montréal. 2013-07-28p. 7913-7921

Résumé en anglais

The carbon fiber parts are taking more and more importance in the aeronautical field as aircraft makers are chasing the weight to comply with some of the environmental constraints. Due to certifications, composite parts, like metallic ones, need to be quality controlled. To reduce production cost, composite parts must be controlled during the machining process, and nowadays industrial have a growing interest in this process automation with robotic systems. But this implies specific constraints: for example, the shape of a body panel without its stiffeners differs from CAD model however geometric parameters have to be verified. We will present in this article the methodology used for the automation of the Non Destructive Testing (NDT) focusing on 3 main topics: * Misalignment between CAD based robot trajectories and product to be tested, * Local 3D surface approximation and sensor based robot control, * Hybrid force-position robot control.< Réduire

Mots clés en anglais

Robotics

NDT

3D surface approximation

force/position hybrid control

URI

https://oskar-bordeaux.fr/handle/20.500.12278/203931

Unités de recherche

ESTIA - Recherche

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