Simulation results using a robot with flexibilities for machining and welding

摘要

The objective of this report is to detail the models used in simulation and the results obtained in simulation for both machining and FSW process.This report contains in a first part the details of modeling flexibilities of serial robots primarily through a model of localized flexibilities. The flexibilities are expressed both in Cartesian space and in the joint space and taking into account possible couplings.The second part deals with the dynamic model used in the simulator and the simulation environment. A significant work was to also model the company Kuka robot controller. Machining processes and FSW are modeled by simple models but reflecting the reality of the behavior.