Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes
Impact
![Google Scholar](/xmlui/themes/Mirage2/images/uji/logo_google.png)
![Microsoft Academico](/xmlui/themes/Mirage2/images/uji/logo_microsoft.png)
Metadata
Show full item recordcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
comunitat-uji-handle4:
INVESTIGACIONThis resource is restricted
http://dx.doi.org/10.1016/j.rcim.2011.09.008 |
Metadata
Title
Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution SchemesDate
2011Publisher
ElsevierISSN
0736-5845Bibliographic citation
Robotics and Computer-Integrated Manufacturing (2011) vol. 28, no. 2, p. 265-274Type
info:eu-repo/semantics/articlePublisher version
http://www.sciencedirect.com/science/article/pii/S0736584511001165Subject
Abstract
This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and ... [+]
This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and synchronized with a rotary table), devoted to the rapid prototyping of 3D CAD-defined products. Previously, it evaluates several Redundancy Resolution Schemes at the joint-rate level for the configuration of the postprocessor, dealing not only with the additional joints but also with the redundancy due to the symmetry on the milling tool. The use of these redundancies is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. In addition, two proper fuzzy inference engines actively adjust the weight of each joint in these tasks. The postprocessor is validated in a real prototyping of a Valencian Falla. [-]
Rights
© 2011 Elsevier Inc. All rights reserved
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/restrictedAccess
http://rightsstatements.org/vocab/InC/1.0/
info:eu-repo/semantics/restrictedAccess
This item appears in the folowing collection(s)
- EMC_Articles [825]