Automated milling path tracking and CAM-Rob intergration for industrial redundant manipulators
Impacto
Scholar |
Otros documentos de la autoría: Gracia Marco, Luis; Andres-Esperanza, Javier; Gracia, Carlos
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONMetadatos
Título
Automated milling path tracking and CAM-Rob intergration for industrial redundant manipulatorsFecha de publicación
2012Editor
In-TechISSN
1729-8806; 1729-8814Cita bibliográfica
International Journal of Advanced Robotic Sy, (2012), Vol. 9, 62, p. 1-8Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://cdn.intechopen.com/pdfs/39058/InTech-Automated_milling_path_tracking_and_ ...Palabras clave / Materias
Resumen
The present paper explores the industrial
capabilities of a CAM‐ROB system implementation based
on a commercial CAD/CAM system (NXTM) for an
industrial robotic workcell of eight joints, committed to
the rapid ... [+]
The present paper explores the industrial
capabilities of a CAM‐ROB system implementation based
on a commercial CAD/CAM system (NXTM) for an
industrial robotic workcell of eight joints, committed to
the rapid prototyping of 3D CAD‐defined models. The
workcell consists of a KUKATM KR15/2 manipulator
assembled on a linear track and synchronized with a
rotary table. A redundancy resolution scheme is
developed to deal with the redundancies due to the
additional joints of the robot, plus the one from the
symmetry axis of the milling tool. During the path
tracking, the use of these redundancies is optimized by
adjusting two performance criterion vectors related to
singularity avoidance and maintenance of a preferred
reference posture, as secondary tasks to be done. In
addition, two suitable fuzzy inference engines adjust the
weight of each joint in these tasks. The developed system
is validated in a real prototyping of a carving. [-]
Publicado en
International Journal of Advanced Robotic Sy, (2012), Vol. 9, núm. 62Derechos de acceso
info:eu-repo/semantics/openAccess
Aparece en las colecciones
- EMC_Articles [803]
El ítem tiene asociados los siguientes ficheros de licencia: