Journal
CONTROL ENGINEERING PRACTICE
Volume 18, Issue 5, Pages 471-482Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2010.01.004
Keywords
Trajectory planning; Industrial Robots; Jerk; Vibration; Machining
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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.
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