Combining holistic programming with kinematic parameter optimisation for robot machining
Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany
Tagungsband: ISR/Robotik 2014
Seiten: 7Sprache: EnglischTyp: PDF
Persönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Autoren:
Schneider, Ulrich; Diaz Posada, Julian Ricardo; Drust, Manuel; Verl, Alexander (Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany)
Zwaag, Johnny van der (Delcam plc, Birmingham, United Kingdom)
Inhalt:
Industrial robot technology provides an excellent base for machining as robots are very flexible and cost effective compared to CNC machines. In this article, two methods are presented to reduce set-up time when machining with industrial robots. Combining an advanced programming and simulation environment together with a kinematic compensation approach results in a seamless interaction of all steps in order to avoid manual interference in a later stage of the process. Experimental results will validate the presented approach and outline the potential.