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Calibration and control of a redundant robotic workcell for milling tasks
dc.contributor.author | Andres-Esperanza, Javier | |
dc.contributor.author | Gracia Marco, Luis | |
dc.contributor.author | Tornero, Josep | |
dc.date.accessioned | 2012-10-15T06:46:47Z | |
dc.date.available | 2012-10-15T06:46:47Z | |
dc.date.issued | 2011 | |
dc.identifier.citation | International Journal of Computer Integrated Manufacturing, 2011, vol. 24, no. 6 | |
dc.identifier.citation | Javier Andres, Luis Gracia & Josep Tornero (2011): Calibration and control of a redundant robotic workcell for milling tasks, International Journal of Computer Integrated Manufacturing, 24:6, 561-573 | |
dc.identifier.issn | 0951-192X | |
dc.identifier.issn | 1362-3052 | |
dc.identifier.uri | http://hdl.handle.net/10234/48574 | |
dc.description.abstract | This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA™ manipulator mounted on a linear track and synchronised with a rotary table. Prior to any machining, the additional joints require an in situ calibration in an industrial environment. For this purpose, a novel planar calibration method is developed to estimate the external joint configuration parameters by means of a laser displacement sensor and avoiding direct contact with the pattern. Moreover, a redundancy resolution scheme on the joint rate level is integrated within a computer aided manufacturing system for the complete control of the workcell during the path tracking of a milling task. Finally, the whole system is tested in the prototyping of an orographic model. | ca_CA |
dc.language.iso | eng | ca_CA |
dc.publisher | Taylor & Francis | |
dc.rights | © Taylor & Francis | ca_CA |
dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | * |
dc.subject | Redundant workcell | ca_CA |
dc.subject | Robot calibration | ca_CA |
dc.subject | Post-processing | ca_CA |
dc.subject | CNC machining | ca_CA |
dc.subject | CAD/CAM | ca_CA |
dc.title | Calibration and control of a redundant robotic workcell for milling tasks | ca_CA |
dc.type | info:eu-repo/semantics/article | ca_CA |
dc.identifier.doi | http://dx.doi.org/10.1080/0951192X.2011.566284 | |
dc.rights.accessRights | info:eu-repo/semantics/restrictedAccess | ca_CA |
dc.relation.publisherVersion | http://www.tandfonline.com/doi/full/10.1080/0951192X.2011.566284 | ca_CA |
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