Feedrate planning for machining with industrial six-axis robots

被引：105

作者：

Olabi, Adel ^{[2
]}

Bearee, Richard ^{[1
]}

Gibaru, Olivier ^{[2
]}

Damak, Mohamed ^{[3
]}

机构：

[1] Arts & Metiers ParisTech, Lab Elect Engn & Power Elect L2EP, F-59046 Lille, France

[2] Arts & Metiers ParisTech, Metrol & Appl Math Lab L2MA, F-59046 Lille, France

[3] Dynalog France, F-59650 Villeneuve Dascq, France

来源：

CONTROL ENGINEERING PRACTICE | 2010年 / 18卷 / 05期

关键词：

Trajectory planning; Industrial Robots; Jerk; Vibration; Machining; DESIGN; IDENTIFICATION; GENERATION;

D O I：

10.1016/j.conengprac.2010.01.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：471 / 482

页数：12

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