Feedrate planning for machining with industrial six-axis robots
dc.contributor.author | DAMAK, Mohamed |
dc.contributor.author
hal.structure.identifier | OLABI, Adel
|
dc.contributor.author | BEAREE, Richard |
dc.contributor.author
hal.structure.identifier | GIBARU, Olivier
|
dc.date.accessioned | 2014 |
dc.date.issued | 2010 |
dc.date.submitted | 2014 |
dc.identifier.issn | 0967-0661 |
dc.identifier.uri | http://hdl.handle.net/10985/8155 |
dc.description | The authors want to thank Stäubli for providing the necessary information of the controller, Dynalog for its contribution to the experimental validations and X. Helle for its material contributions. |
dc.description.abstract | Nowadays, the adaptation of industrial robots to carry out high-speed machining operations is strongly required by the manufacturing industry. This new technology machining process demands the improvement of the overall performances of robots to achieve an accuracy level close to that realized by machine-tools. This paper presents a method of trajectory planning adapted for continuous machining by robot. The methodology used is based on a parametric interpolation of the geometry in the operational space. FIR filters properties are exploited to generate the tool feedrate with limited jerk. This planning method is validated experimentally on an industrial robot. |
dc.language.iso | en |
dc.publisher | Elsevier |
dc.rights | Pre-print |
dc.subject | Trajectory planning |
dc.subject | Industrial robot |
dc.subject | Vibration |
dc.title | Feedrate planning for machining with industrial six-axis robots |
dc.identifier.doi | 10.1016/j.conengprac.2010.01.004 |
dc.typdoc | Article dans une revue avec comité de lecture |
dc.localisation | Centre de Lille |
dc.subject.hal | Informatique: Automatique |
dc.subject.hal | Informatique: Robotique |
dc.subject.hal | Sciences de l'ingénieur: Mécanique: Vibrations |
ensam.audience | Internationale |
ensam.page | 471-482 |
ensam.journal | Control Engineering Practice |
ensam.volume | 18 |
ensam.issue | 5 |
hal.identifier | hal-00992192 |
hal.version | 2 |
hal.submission.permitted | updateMetadata |
hal.status | accept |