CAM-Rob postprocessor based on a fuzzified redundancy resolution scheme

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.