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Correction de trajectoires d'un robot manipulateur utilisé pour le soudage par friction malaxage

Abstract : Friction Stir Welding (FSW) is a recent process used for welding metallic parts in aerospace, automotive, and railway industries. Serial industrial robots may be used as FSW welding machines, but because of their lack of stiffness, they undergo elastic deformation under the effect of stresses produced by the process. This causes a welding tool path deviation both in position and orientation, which induces defects in the weld seam. In this work, two path correction methods were developed. The first method is based on the prediction of the position and orientation deviations in the cartesian space from robot models and stiffness model of the links and the joints. The knowledge of tool deviations enabled the synthesis of a path programming approach adapted for robotic FSW. Unlike linear interpolation methods often used, this approach is based on approximations of the adapted path by Bézier or B-splines curves. Experimental validations on a Kuka KR500-2MT robot welding complex paths showed an average residual deviation of 0.3 mm and weld seams without defects. The path accuracy achieved makes it possible to consider an industrial exploitation of the developed solution. The second proposed correction method uses position feedback with a 2D laser profile sensor in the feedback loop for real-time measurement of deviations. Two controllers were designed to correct the deviations. In spite of the external disturbances related to the constraints of the process, experimental results obtained on straight and curvilinear welding paths showed the stability of the feedback loop and a mean residual deviation of 0.1 mm was achieved. The interests and difficulties of deploying this second method were also highlighted.
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Submitted on : Tuesday, February 4, 2020 - 9:42:09 AM
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  • HAL Id : tel-02464343, version 2


Komlan Kolegain. Correction de trajectoires d'un robot manipulateur utilisé pour le soudage par friction malaxage. Autre [cs.OH]. Ecole nationale supérieure d'arts et métiers - ENSAM, 2019. Français. ⟨NNT : 2019ENAM0033⟩. ⟨tel-02464343v2⟩



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