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Calibration and Control of a Redundant Robotic Workcell for Milling Tasks

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Calibration and Control of a Redundant Robotic Workcell for Milling Tasks

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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 2017-03-21T17:21:54Z
dc.date.available 2017-03-21T17:21:54Z
dc.date.issued 2011-06
dc.identifier.issn 0951-192X
dc.identifier.uri http://hdl.handle.net/10251/78896
dc.description.abstract 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. es_ES
dc.language Inglés es_ES
dc.publisher Taylor & Francis es_ES
dc.relation.ispartof International Journal of Computer Integrated Manufacturing es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Redundant workcell es_ES
dc.subject Robot calibration es_ES
dc.subject Post-processing es_ES
dc.subject CNC machining es_ES
dc.subject CAD/CAM es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Calibration and Control of a Redundant Robotic Workcell for Milling Tasks es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1080/0951192X.2011.566284
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. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica 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 Andres De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, 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.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1080/0951192X.2011.566284 es_ES
dc.description.upvformatpinicio 561 es_ES
dc.description.upvformatpfin 573 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 24 es_ES
dc.description.issue 6 es_ES
dc.relation.senia 208916 es_ES
dc.identifier.eissn 1362-3052


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