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Dynamic Tool Center Point (DTCP) Implementing in Automated Fiber Placement (AFP)

Itzel de Jesus Gonzalez Ojeda, Olivier Patrouix, Yannick Aoustin

Abstract


In the last years, the robots have been implementing in the task that were previously performed specialized machines such as polish, milling, placement of fibers, among others. However, the implementation using industrial robots for these applications has accuracy problems due to the flexibilities within the robot arm or the tooling when external forces are applied. This paper is an introduction of the work done to improve the precision in the robotic fiber placement, taking into in account the deformation in the compaction roller.

Keywords


Automatic Fiber Placement (AFP), model elastic-static, model order reduction (MOR), dynamic tool center point (DTCP)

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