Digital chain development for sanding application with a kinematically redundant robotic system

摘要

Naval industries are looking for new ways to perform complex tasks on large and stationary parts. In this context, mobile manipulators which consist on a manipulator (6 Degrees of Freedom) mounted on a wheeled base (4 DoFs -Automated Guided Vehicule) are a promising solution. In this paper, such one is presented and the way to control it is explained. It appears that the redundancy management can be solved by fixing geometric parameters and adjusting timers to control the end effector. Staubli Robot and AGV are synchronised via a Main computer : the digital chain development is highlighted and ways are proposed to improve the mobile robot behavior via the redundancy management.