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Research – Kineo – PLM Users
Research Lab Kineo PLM Users
Professional Solutions Needs Problems Scientific Contributions
Path Planning for PLM Solutions and open issues Product Lifecycle - - PowerPoint PPT Presentation
Path Planning for PLM Solutions and open issues Product Lifecycle - - PowerPoint PPT Presentation
Path Planning for PLM Solutions and open issues Product Lifecycle Management MOVIE Workshop January 2005 1 Research Kineo PLM Users Research Lab PLM Users Scientific Professional Contributions Solutions Needs Problems Kineo
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Motion and Product
- Simulating the function of a product is not motion
planning
- Product is Assembly of Parts
- Developing Manufacturing Process
– Finding motion to assemble parts together
- Checking Product Maintainability
– Finding motion to dismount parts
- feasible motion is better than realistic motion
Solid Dynamics S.A.
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General Requirements
- The PLM user is not an expert in motion planning.
– Need of simplicity:
- no parameter to tune,
- no expert skills,
- ne button pressing.
– Need to be fast and reliable. – Need to be integrated with the existing CAE tools:
- Done by Tecnomatix
- On going integration by UGS and Dassault Systèmes
- Addin for Solidworks and 3DS max
- Size of the data: huge geometrical models
– ~several millions of facets – Performing fast collision detection with low memory consumption
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Free Flyer object: Existing Solution KPP
- based on RRT
- Iterative Path Planner
- Find Draft Paths and
refine
- Fast Path Planning
- No Parameters
- Controlling the dynamic
collisions
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Free Flyer object: Problems
- Starting position in collision:
– Bad contact – Bad tesselation – Else?
- Analysis of the failure case:
– When to stop? Progression bar? – Probability of no solution?
- What is the reason for the lack of solution?
– Returning the “best” colliding path:
- Minimizing the penetration?
- Minimizing the number of colliding parts?
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Automatic Sequence of Operations
Source: ENSAM Metz
- Finding the sequence to
disassemble several parts.
- Using the analysis of the
failure to know which part to disassemble first.
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Human manipulation
Proving the dismountability
- f a car part.
- Free Flyer doesn’t exist in
the real world
- Motion generated by a
mechanic
Several steps to be checked
- Access
- Grasping
- Extraction
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Human manipulation: Accessibility
How to access the part:
- Finding a collision free
grasping position.
- Using the redundancy of
the inverse kinematics.
- Finding a path to this
position.
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Human manipulation: Grasping
How to grasp the part:
- Closing the hand around
the object.
- Where to grasp the
- bject?
- How to know the grasping
is safe?
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Human manipulation with 2 hands
Closing the kinematics chain
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Human manipulation: Extraction
Extracting the part by using the degrees of freedom of the mannequin.
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Human manipulation
One of the main research axis of MOVIE project:
- cooperation between LAAS
and Kineo
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Industrial Robot Motion Planning
Existing Solution for Assembly and Welding points in cooperation with Tecnomatix Ideal interpolations Linear motion Joint motion Steering method is the straight line
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Industrial Robot Motion Planning
- Real motion will be generated by a robot
controller
– Avoids singularity – Optimizes the cycle time
- A controller appears as a steering method
– It generates the motion between a given set of points – Developed by robot constructor: black box
- The motion between two locations depends on
the past and on the future.
- Optimization: reducing the number of locations
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Conclusion
- Kineo already provides professional path
planning solution for industrials
- Interesting problems are under development for
the future version of our tools
- And much more
– Human cooperation – Multi robots cells – Your ideas…
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