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Trayectorias de máxima rigidez de un robot redundante actuando como soporte en el mecanizado de paredes delgadas

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Trayectorias de máxima rigidez de un robot redundante actuando como soporte en el mecanizado de paredes delgadas

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Aginaga, J.; García-Cuesta, I.; Iriarte, X.; Plaza, A. (2023). Trayectorias de máxima rigidez de un robot redundante actuando como soporte en el mecanizado de paredes delgadas. Revista Iberoamericana de Automática e Informática industrial. 20(3):259-268. https://doi.org/10.4995/riai.2023.18977

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Título: Trayectorias de máxima rigidez de un robot redundante actuando como soporte en el mecanizado de paredes delgadas
Otro titulo: Maximum stiffness trajectories of a redundant robot acting as a support in thin-wall machining
Autor: Aginaga, Jokin García-Cuesta, Iván Iriarte, Xabier Plaza, Aitor
Fecha difusión:
Resumen:
[EN] The precision of a robot is linked to its stiffness. Compared with traditional machine tools, industrial robots have large workspace as an advantage, but low stiffness as a disadvantage. Furthermore, stiffness has a ...[+]


[ES] La precisión de un robot está ligada a su rigidez. En comparación con la máquina herramienta tradicional, los robots industriales tienen un gran espacio de trabajo como ventaja, pero una rigidez reducida como desventaja. ...[+]
Palabras clave: Industrial robotics , Redundant degree of freedom , Stiffness , Pose optimization , Performance index , Robótica industrial , Grado de libertad redundante , Rigidez , Optimización de postura , Índice de comportamiento
Derechos de uso: Reconocimiento - No comercial - Compartir igual (by-nc-sa)
Fuente:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.4995/riai.2023.18977
Editorial:
Universitat Politècnica de València
Versión del editor: https://doi.org/10.4995/riai.2023.18977
Código del Proyecto:
info:eu-repo/grantAgreement/Gobierno de Navarra//0011-1365-2021-000080/ES
Agradecimientos:
Este trabajo ha contado con la financiación de la “Convocatoria de ayudas a proyectos de I+D del Gobierno de Navarra”, bajo el proyecto con Ref. 0011-1365-2021-000080.
Tipo: Artículo

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