کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413795 680677 2012 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Implementation and testing of a CAM postprocessor for an industrial redundant workcell with evaluation of several fuzzified Redundancy Resolution Schemes
چکیده انگلیسی

This paper describes the implementation of a postprocessor to adapt the toolpath generated by a CAM system (NXTM) to a complex workcell of eight joints (namely, a KUKA KR15/2 manipulator mounted on a linear track and synchronized with a rotary table), devoted to the rapid prototyping of 3D CAD-defined products. Previously, it evaluates several Redundancy Resolution Schemes at the joint-rate level for the configuration of the postprocessor, dealing not only with the additional joints but also with the redundancy due to the symmetry on the milling tool. The use of these redundancies is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. In addition, two proper fuzzy inference engines actively adjust the weight of each joint in these tasks. The postprocessor is validated in a real prototyping of a Valencian Falla.


► We develop a postprocessor to adapt the toolpath generated by a CAM system.
► We consider an industrial redundant workcell of eight joints.
► Redundancy is used to avoid singularity and to maintain a preferred reference posture.
► We use fuzzy logic to adjust the weight of each joint in the secondary tasks.
► The approach is validated in a real prototyping of a Valencian Falla.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 28, Issue 2, April 2012, Pages 265–274
نویسندگان
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