Enhanced trajectory planning for machining ...
Type de document :
Communication dans un congrès avec actes
Titre :
Enhanced trajectory planning for machining with industrial six-axis robots
Auteur(s) :
Olabi, Adel [Auteur]
Béarée, Richard [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Nyiri, Eric [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Gibaru, Olivier [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Béarée, Richard [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Nyiri, Eric [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Gibaru, Olivier [Auteur]
Laboratoire des Sciences de l'Information et des Systèmes [LSIS]
Non-Asymptotic estimation for online systems [NON-A]
Titre de la manifestation scientifique :
IEEE International Conference on Industrial Technology
Ville :
Via del Mar
Pays :
Chili
Date de début de la manifestation scientifique :
2010-03-14
Date de publication :
2010-05-27
Mot(s)-clé(s) en anglais :
industrial robots
interpolation
machining
splines
interpolation
machining
splines
Discipline(s) HAL :
Sciences de l'ingénieur [physics]/Automatique / Robotique
Résumé en anglais : [en]
This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L1 interpolation is introduced to generate efficiently the tool-paths ...
Lire la suite >This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L1 interpolation is introduced to generate efficiently the tool-paths in the form of shape-preserving quintic splines. Then, the tool-tip feedrate planning in Cartesian space is done using a smooth jerk limited pattern and taking into account the joints kinematics constraints. Experimental validations conducted on a 6-axis industrial robot demonstrate the effectiveness of the proposed methodology of trajectory planning in the context of machining.Lire moins >
Lire la suite >This paper presents a practical approach to adapt the trajectory planning stage for industrial robots to realize continuous machining operations. Firstly, L1 interpolation is introduced to generate efficiently the tool-paths in the form of shape-preserving quintic splines. Then, the tool-tip feedrate planning in Cartesian space is done using a smooth jerk limited pattern and taking into account the joints kinematics constraints. Experimental validations conducted on a 6-axis industrial robot demonstrate the effectiveness of the proposed methodology of trajectory planning in the context of machining.Lire moins >
Langue :
Anglais
Comité de lecture :
Oui
Audience :
Internationale
Vulgarisation :
Non
Collections :
Source :