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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 | 2017-04-27T10:51:25Z | |
dc.date.available | 2017-04-27T10:51:25Z | |
dc.date.issued | 2012-04 | |
dc.identifier.issn | 0736-5845 | |
dc.identifier.uri | http://hdl.handle.net/10251/80118 | |
dc.description.abstract | 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. | es_ES |
dc.description.sponsorship | 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. | en_EN |
dc.language | Inglés | es_ES |
dc.publisher | Elsevier | es_ES |
dc.relation.ispartof | Robotics and Computer-Integrated Manufacturing | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject | Postprocessor | es_ES |
dc.subject | Redundant robot | es_ES |
dc.subject | Fuzzy | es_ES |
dc.subject | Milling | es_ES |
dc.subject | CAM | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1016/j.rcim.2011.09.008 | |
dc.relation.projectID | info:eu-repo/grantAgreement/UPV//PAID-00-09/ | 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). 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 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://dx.doi.org/10.1016/j.rcim.2011.09.008 | es_ES |
dc.description.upvformatpinicio | 265 | es_ES |
dc.description.upvformatpfin | 274 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 28 | es_ES |
dc.description.issue | 2 | es_ES |
dc.relation.senia | 234303 | es_ES |
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 |