Calibration and control of a redundant robotic workcell for milling tasks
Impacto
Scholar |
Otros documentos de la autoría: Andres-Esperanza, Javier; Gracia Marco, Luis; Tornero, Josep
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http://dx.doi.org/10.1080/0951192X.2011.566284 |
Metadatos
Título
Calibration and control of a redundant robotic workcell for milling tasksFecha de publicación
2011Editor
Taylor & FrancisISSN
0951-192X; 1362-3052Cita bibliográfica
International Journal of Computer Integrated Manufacturing, 2011, vol. 24, no. 6Javier 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
Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.tandfonline.com/doi/full/10.1080/0951192X.2011.566284Palabras clave / Materias
Resumen
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 ... [+]
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. [-]
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