Andrés De La Esperanza, FJ.; Gracia Calandin, LI.; Tornero Montserrat, 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. https://doi.org/10.1016/j.rcim.2011.09.008
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/80118
Title:
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Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes
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Author:
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Andrés de la Esperanza, Francisco Javier
Gracia Calandin, Luis Ignacio
Tornero Montserrat, Josep
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UPV Unit:
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Universitat Politècnica de València. Instituto de Diseño para la Fabricación y Producción Automatizada - Institut de Disseny per a la Fabricació i Producció Automatitzada
Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny
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Issued date:
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Abstract:
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This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and ...[+]
This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and synchronized with a rotary table), devoted to the rapid prototyping of 3D CAD-defined products. Previously, it evaluates several Redundancy Resolution Schemes at the joint-rate level for the configuration of the postprocessor, dealing not only with the additional joints but also with the redundancy due to the symmetry on the milling tool. The use of these redundancies is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. In addition, two proper fuzzy inference engines actively adjust the weight of each joint in these tasks. The postprocessor is validated in a real prototyping of a Valencian Falla.
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Subjects:
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Postprocessor
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Redundant robot
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Fuzzy
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Milling
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CAM
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Copyrigths:
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Reserva de todos los derechos
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Source:
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Robotics and Computer-Integrated Manufacturing. (issn:
0736-5845
)
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DOI:
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10.1016/j.rcim.2011.09.008
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Publisher:
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Elsevier
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Publisher version:
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http://dx.doi.org/10.1016/j.rcim.2011.09.008
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Project ID:
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info:eu-repo/grantAgreement/UPV//PAID-00-09/
info:eu-repo/grantAgreement/GVA//PROMETEO09%2F2009%2F063/ES/Investigaciones en diseño para la fabricación y producción automatizada/
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/ /
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Thanks:
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This research is partially supported by the Technical University of Valencia (PAID-00-09), project PROMETEO 2009/063 of Generalitat Valenciana and research project DPI2009-14744-C03-01 of the Spanish Government.
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Type:
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Artículo
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