Langues

Research laboratory

UMR 6602 - UCA/CNRS/SIGMA

Intelligent and Innovative Robots and Machines

 

  • Multi-arm, multi-component manipulation
  • Dynamic environment interaction
  • Autonomy of vehicles and robots
  • Increased mobility
  • Process performance

 

 Heads of action:

Roland CHAPUIS 

Laurent SABOURIN

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REDUDANCY-BASED OPTIMIZATION APPROACH APPLIED TO ROBOTIC CELL BEHAVIOUR

Robotic architectures offer great capabilities in terms of  workspace and kinematics, but suffer from a lack of stiffness when it comes to high loading. Here, we introduce a set of redundancies, together with kinematic, mechanical and stiffness criteria which enable the placement of the task and optimized path planning.

              
(top left) Schematic of robotic cell.
(bottom left) Optimization of paths planning.
(right) Validation of strategies.
  Robotized deboning along 2nd  fat vein.

 

Contacts: Grigore GOGU  This email address is being protected from spambots. You need JavaScript enabled to view it.
  Youcef MEZOUAR  This email address is being protected from spambots. You need JavaScript enabled to view it.
  Laurent SABOURIN This email address is being protected from spambots. You need JavaScript enabled to view it.


PhD: R. Cousturier, G. Guire, V. Robin, K. Subrin

Contracts: FUI SRDViand Systèmes Robotisés de Découpe de Viande (2007-2011) / ANR RoboTool/RobProd in EquipEx Robotex (2011-2019) / CPER Project Innov@Pôle (2007-2013) /
UMT 08-02 Mécanisation/Robotisation dans les Filières Viandes et Produits Carnés (2009-2014) / UMT 14.02 Mecarneo (2014-2019) / Transfer action: 2MATech (Contracts : ABB/Renault ACI - SAFE Metal) (2014-2015)

Selected papers:
•    Redundancy-based optimization approach to optimize robotic cell behaviour: application to robotic machining, L. Sabourin et al., Industrial Robot: An International Journal 42, 167 (2015).
•    Analysis of the human arm gesture for optimizing cutting process in ham deboning with a redundant robotic cell, K. Subrin et al., Industrial Robot: An International Journal 41, 190 (2014).
•    Robotic cell for beef carcass primal cutting and pork ham boning in meat industry, G. Guire et al., Industrial Robot: An International Journal 37, 532 (2010) (Outstanding Paper Award 2011, Emerald Literati network).


COLLABORATIVE CROSS AND CARRY MOBILE ROBOTS: THE C3BOTS PROJECT

The C3Bots project aims to design Collaborative Cross and Carry mobile roBots to transport payloads of any shape and mass (removal man task). Several mono-robots catch the payload on the ground and use it as a connecting part in the resulting poly-robot. Two architectures are proposed: (i) C3Bots DGP (Dorsal transport of General Payloads), carries the payload on its top platform and achieves optimal positioning maximizing both stability margin and Force Closure Grasping condition. (ii) C3Bots AT/VLP (All-Terrain/Ventral transport of Long Payloads), carries long payloads between its wheels and performs stable obstacle crossing by re-configuring its shape during an 18-step process.

         

The mono-robots C3Bots DGP surround the payload (a) to maximize the stability margin (b) and the Force Closure Grasping condition (c). A lifting parallelogram mechanism was designed to bring the payload on the mono-robot top platform (d). CAD view of four mono-robots carrying a box (e).

 

Examples of “removal-man task” solved by one operator or several co-manipulating operators, on smooth grounds/slopes/obstacles, for standard or long payloads

 

Contacts: Lounis ADOUANE This email address is being protected from spambots. You need JavaScript enabled to view it.
  Belhassen-Chedli BOUZGARROU This email address is being protected from spambots. You need JavaScript enabled to view it.
  Jean-Christophe FAUROUX   This email address is being protected from spambots. You need JavaScript enabled to view it.
  Youcef MEZOUAR   This email address is being protected from spambots. You need JavaScript enabled to view it.


PhD/Post doc: B. Hichri/M. Krid

Contracts: ANR LabEx IMobS3 > Défi 1 > RobDyn > C3Bots / ANR RobotEx EQUIPEX



Selected papers:

  • Lifting mechanism for payload transport by collaborative mobile robots », in "New Trends in Mechanism and Machine Science , B. Hichri et al., Springer, Mechanisms and Machine Science 34, 157, ISBN 978-3-319-09410-6.
  • Cooperative lifting and transport by a group of mobile robots, B. Hichri et al., Int. Symp. on Distributed Autnomous Robotic Systems, DARS 2014, Korea (14 p.).
  • Unité robotique de transport de charges longues, J.C. Fauroux et al., PCT Patent, IFMA (2015).