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dc.contributor.author | Andrés de la Esperanza, Francisco Javier![]() |
es_ES |
dc.contributor.author | Gracia Calandin, Luis Ignacio![]() |
es_ES |
dc.contributor.author | Tornero Montserrat, Josep![]() |
es_ES |
dc.date.accessioned | 2017-02-17T14:47:34Z | |
dc.date.available | 2017-02-17T14:47:34Z | |
dc.date.issued | 2012-09 | |
dc.identifier.issn | 0268-3768 | |
dc.identifier.uri | http://hdl.handle.net/10251/78003 | |
dc.description.abstract | This work highlights the applicability of different redundancy resolution schemes to the postprocessing stage from a computer-aided manufacturing (CAM) system to an industrial redundant workcell. The inverse kinematic problem for redundant manipulators is not straightforward and, therefore, it is commonly solved using an iteratively approach based on redundant resolution schemes at the velocity level. In this work, two conceptions of redundancy resolution schemes are evaluated and a novel fuzzy inference system is developed to improve the performance during the toolpath tracking in order to avoid singularities and to maintain a preferred reference posture. For this purpose, the fuzzy inference engine properly adjusts the weight of each joint in the calculation of the performance criterion vectors. The proposed approach is validated in the real prototyping of a windmill blademold using a KUKA KR15/2manipulator mounted on a linear track and synchronized with a rotary table. To the authors knowledge, the proposed method and the results shown are novel in the context of postprocessing techniques from CAM systems to industrial robots devoted to milling works. With the same guidelines, the postprocessor programmed inside the CAM system is expected to be easily applicable not only to other industrial robots, but also for different applications such as welding or painting labors. | es_ES |
dc.description.sponsorship | This research is partially supported by the Technical University of Valencia (PAID-00-09-3092, PAID-05-11-2640), project PROMETEO 2009/063 of Generalitat Valenciana and research project DPI2009-14744-C03-01 of the Spanish Government. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Springer Verlag (Germany) | es_ES |
dc.relation.ispartof | International Journal of Advanced Manufacturing Technology | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Redundant robot | es_ES |
dc.subject | Fuzzy logic | es_ES |
dc.subject | Robot milling | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1007/s00170-011-3836-y | |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV//PAID-00-09-3092/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV//PAID-05-11-2640/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//PROMETEO09%2F2009%2F063/ES/Investigaciones en diseño para la fabricación y producción automatizada/ | es_ES |
dc.relation.projectID | 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.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny | es_ES |
dc.description.bibliographicCitation | Andrés De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, J. (2012). CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme. International Journal of Advanced Manufacturing Technology. 62(5):705-718. https://doi.org/10.1007/s00170-011-3836-y | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1007/s00170-011-3836-y | es_ES |
dc.description.upvformatpinicio | 705 | es_ES |
dc.description.upvformatpfin | 718 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 62 | es_ES |
dc.description.issue | 5 | es_ES |
dc.relation.senia | 234329 | es_ES |
dc.identifier.eissn | 1433-3015 | |
dc.contributor.funder | Ministerio de Ciencia e Innovación | es_ES |
dc.contributor.funder | Generalitat Valenciana | es_ES |
dc.contributor.funder | Universitat Politècnica de València | es_ES |
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