Optimization of a robotized cell with redundant architecture

This article presents a multi-objective optimization approach used for redundancy resolution in a robotized cell. The cell is dedicated to finishing operations, by machining and polishing, on large cast aluminum parts. The objectives are to improve machine capability and kinematics capacity. We first formalize the main constraints related to the process and to the cell. We then describe our optimization, kinematics and precision criteria as well as the multi-objective method developed. This method has been verified by simulation and the results have been validated on industrial parts. The study was carried out in collaboration with the Société des Fonderies d'Ussel (SFU), part of the Alcan group, specialized in high technology aluminum molded parts. The applications relate mainly to aeronautical, energy and transport activities.