Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA (TM) 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 industr...
| Autores: | , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/78896 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/78896 |
| Access Level: | acceso abierto |
| Palabra clave: | Redundant workcell Robot calibration Post-processing CNC machining CAD/CAM INGENIERIA DE SISTEMAS Y AUTOMATICA |
| Sumario: | This article deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA (TM) 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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