Automated milling path tracking and CAM-Rob intergration for industrial redundant manipulators
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Other documents of the author: Gracia Marco, Luis; Andres-Esperanza, Javier; Gracia, Carlos
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comunitat-uji-handle2:10234/7035
comunitat-uji-handle3:10234/8617
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INVESTIGACIONMetadata
Title
Automated milling path tracking and CAM-Rob intergration for industrial redundant manipulatorsDate
2012Publisher
In-TechISSN
1729-8806; 1729-8814Bibliographic citation
International Journal of Advanced Robotic Sy, (2012), Vol. 9, 62, p. 1-8Type
info:eu-repo/semantics/articlePublisher version
http://cdn.intechopen.com/pdfs/39058/InTech-Automated_milling_path_tracking_and_ ...Subject
Abstract
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. [-]
Is part of
International Journal of Advanced Robotic Sy, (2012), Vol. 9, núm. 62Rights
info:eu-repo/semantics/openAccess
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