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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 |