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Automated milling path tracking and CAM-ROB integration for industrial redundant manipulators

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Automated milling path tracking and CAM-ROB integration for industrial redundant manipulators

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dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Andrés de la Esperanza, Francisco Javier es_ES
dc.contributor.author Gracia Calandin, Carlos Pablo es_ES
dc.date.accessioned 2013-07-01T07:02:40Z
dc.date.available 2013-07-01T07:02:40Z
dc.date.issued 2012
dc.identifier.issn 1729-8806
dc.identifier.uri http://hdl.handle.net/10251/30294
dc.description.abstract [EN] 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. es_ES
dc.description.sponsorship This research is partially supported by research project DPI2009-14744-C03-01 of the Spanish Government, project PROMETEO 2009/063 of Generalitat Valenciana, and research projects PAID-05-11-2640 and PAID-00-12-SP20120159 of the Universitat Politecnica de Valencia. en_EN
dc.language Inglés es_ES
dc.publisher In-Tech es_ES
dc.relation info:eu-repo/grantAgreement/MICINN//DPI2009-14744-C03-01/ES/Diseño De Un Vehiculo De Inspeccion Submarina Autonoma Para Misiones Oceanograficas: Grupo De Investigacion Idf-Upv/ es_ES
dc.relation Generalitat Valenciana PROMETEO 2009/063 es_ES
dc.relation Universitat Politecnica de Valencia PAID-05-11-2640 es_ES
dc.relation Universitat Politecnica de Valencia PAID-00-12-SP20120159 es_ES
dc.relation.ispartof International Journal of Advanced Robotic Systems es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Postprocessor es_ES
dc.subject Redundancy es_ES
dc.subject Robot manipulator es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification ORGANIZACION DE EMPRESAS es_ES
dc.title Automated milling path tracking and CAM-ROB integration for industrial redundant manipulators es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.5772/51101
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Organización de Empresas - Departament d'Organització d'Empreses es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Gracia Calandin, LI.; Andres De La Esperanza, FJ.; Gracia Calandin, CP. (2012). Automated milling path tracking and CAM-ROB integration for industrial redundant manipulators. International Journal of Advanced Robotic Systems. 9(62):1-8. doi:10.5772/51101 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.5772/51101 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 8 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 9 es_ES
dc.description.issue 62 es_ES
dc.relation.senia 234338
dc.identifier.eissn 1729-8814
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.description.references Andres, J., Gracia, L., & Tornero, J. (2011). Calibration and control of a redundant robotic workcell for milling tasks. International Journal of Computer Integrated Manufacturing, 24(6), 561-573. doi:10.1080/0951192x.2011.566284 es_ES
dc.description.references Asif, U., & Iqbal, J. (2012). On the Improvement of Multi-Legged Locomotion over Difficult Terrains Using a Balance Stabilization Method. International Journal of Advanced Robotic Systems, 9(1), 1. doi:10.5772/7789 es_ES
dc.description.references Angeles, J. (Ed.). (2003). Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms. Mechanical Engineering Series. doi:10.1007/b97597 es_ES
dc.description.references Huo, L., & Baron, L. (2008). The joint‐limits and singularity avoidance in robotic welding. Industrial Robot: An International Journal, 35(5), 456-464. doi:10.1108/01439910810893626 es_ES
dc.description.references Andres, J., Gracia, L., & Tornero, J. (2012). Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes. Robotics and Computer-Integrated Manufacturing, 28(2), 265-274. doi:10.1016/j.rcim.2011.09.008 es_ES
dc.description.references Gracia, L., Andres, J., & Tornero, J. (2009). Trajectory tracking with a 6R serial industrial robot with ordinary and non-ordinary singularities. International Journal of Control, Automation and Systems, 7(1), 85-96. doi:10.1007/s12555-009-0111-1 es_ES
dc.description.references Zhou, H., Cao, Y., Li, B., Wu, M., Yu, J., & Chen, H. (2012). Position-Singularity Analysis of a Class of the 3/6-Gough-Stewart Manipulators Based on Singularity-Equivalent-Mechanism. International Journal of Advanced Robotic Systems, 9(1), 9. doi:10.5772/45664 es_ES


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