Sébastien Garnier

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Tool Condition Monitoring (TCM) systems can improve productivity and ensure workpiece quality, yet, there is a lack of reliable TCM solutions for complex and flexible industrial manufacturing. TCM methods which include the characteristics of the cut seem to be particularly suitable for these demanding applications. In the first section of this paper, three(More)
The paper focuses on the robust identification of geometrical and elastostatic parameters of robotic manipulator. The main attention is paid to the efficiency improvement of the identification algorithm. To increase the identification accuracy, it is proposed to apply the weighted least square technique that employs a new algorithm for assigning of the(More)
Roboticists are faced with new challenges in robotic-based manufacturing. Up to now manufacturing operations that require both high stiffness and accuracy have been mainly realized with computer numerical control machine tools. This paper aims to show that manufacturing finishing tasks can be performed with robotic cells knowing the process cutting(More)
The paper focuses on the identification of elastostatic properties of an industrial serial robot mounted on a rail. It proposes an identification procedure in order to find the optimal robot configuration to minimize the impact of measurement errors on the identification accuracy of the stiffness parameters. An experimental setup is designed to perform the(More)
Roboticists are faced with new challenges in robotic-based manufacturing. Up to now manufacturing operations that require both high stiffness and accuracy have been mainly realized with computer numerical control machine tools. This paper aims to show that manufacturing finishing tasks can be performed with robotic cells knowing the process cutting(More)
The present paper proposes a methodology to optimize process parameters for trimming applications with diamond abrasive cutters. This methodology is based on the study of quality of trimmed surface, through material integrity and surface roughness, and on the study of cutting mechanisms. Their evolutions according to tool parameters and cutting conditions(More)
This paper presents a new methodology for joint stiffness identification of serial robots. This methodology aims at evaluating all joint stiffness values responsible for both translational and rotational displacements of the robot end-effector subject to an external wrench (force and torque). The links of the robot are supposed to be quite stiffer than the(More)