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Feedrate planning for machining with industrial six-axis robots

Article dans une revue avec comité de lecture
Author
DAMAK, Mohamed
ccOLABI, Adel
178374 Laboratoire des Sciences de l'Information et des Systèmes : Ingénierie Numérique des Systèmes Mécaniques [LSIS- INSM]
ccBEAREE, Richard
ccGIBARU, Olivier
144505 Non-Asymptotic estimation for online systems [NON-A]

URI
http://hdl.handle.net/10985/8155
DOI
10.1016/j.conengprac.2010.01.004
Date
2010
Journal
Control Engineering Practice

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.

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