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...

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Autores: Andrés de la Esperanza, Francisco Javier, Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286, Tornero Montserrat, Josep|||0000-0003-1571-0251
Formato: artículo
Fecha de publicación:2011
País:España
Recursos: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
Acesso em linha:https://riunet.upv.es/handle/10251/78896
Access Level:acceso abierto
Palavra-chave:Redundant workcell
Robot calibration
Post-processing
CNC machining
CAD/CAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
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spelling Calibration and Control of a Redundant Robotic Workcell for Milling TasksAndrés de la Esperanza, Francisco JavierGracia Calandin, Luis Ignacio|||0000-0001-9258-9286Tornero Montserrat, Josep|||0000-0003-1571-0251Redundant workcellRobot calibrationPost-processingCNC machiningCAD/CAMINGENIERIA DE SISTEMAS Y AUTOMATICAThis 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.Taylor & FrancisDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto de Diseño para la Fabricación y Producción AutomatizadaRepositorio Institucional de la Universitat Politècnica de València Riunet20112011-06-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/78896reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/788962026-06-13T07:49:27Z
dc.title.none.fl_str_mv Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
title Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
spellingShingle Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
Andrés de la Esperanza, Francisco Javier
Redundant workcell
Robot calibration
Post-processing
CNC machining
CAD/CAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
title_full Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
title_fullStr Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
title_full_unstemmed Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
title_sort Calibration and Control of a Redundant Robotic Workcell for Milling Tasks
dc.creator.none.fl_str_mv Andrés de la Esperanza, Francisco Javier
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Tornero Montserrat, Josep|||0000-0003-1571-0251
author Andrés de la Esperanza, Francisco Javier
author_facet Andrés de la Esperanza, Francisco Javier
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Tornero Montserrat, Josep|||0000-0003-1571-0251
author_role author
author2 Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Tornero Montserrat, Josep|||0000-0003-1571-0251
author2_role author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto de Diseño para la Fabricación y Producción Automatizada
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Redundant workcell
Robot calibration
Post-processing
CNC machining
CAD/CAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Redundant workcell
Robot calibration
Post-processing
CNC machining
CAD/CAM
INGENIERIA DE SISTEMAS Y AUTOMATICA
description 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.
publishDate 2011
dc.date.none.fl_str_mv 2011
2011-06-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/78896
url https://riunet.upv.es/handle/10251/78896
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Taylor & Francis
publisher.none.fl_str_mv Taylor & Francis
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869407328794574848
score 15.301603

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