Feedrate planning for machining with industrial six-axis robots
Article dans une revue avec comité de lecture
Auteur
DAMAK, Mohamed 
OLABI, Adel BEAREE, Richard GIBARU, OlivierRésumé
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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Communication avec acte; ;OLABI, Adel; BEAREE, Richard; GIBARU, Olivier (IEEE, 2013)
The use of industrial robots in many fields of industry like prototyping, pre-machining and end milling is limited because of their poor accuracy. Robot joints are mainly responsible for this poor accuracy. The flexibility ...
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Article dans une revue avec comité de lectureBEAREE, Richard; OLABI, Adel (Elsevier, 2013)
Jerk-limited trajectories are a widespread solution for the trajectory planning of industrial machines Tools or robots. It is known that jerk limitation can reduce vibrations and in some cases can totally suppress residual ...
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Absolute accuracy of industrial robot is required for most of industrial applications. However, positioning errors of several millimeters are induced by many factors. Hybrid calibration, combining analytical model and ...