Feedrate planning for machining with industrial six-axis robots

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• 作者：Adel Olabi ; Richard Bé ; aré ; e ; Olivier Gibaru ; Mohamed Damak
• 关键词：Trajectory planning ; Industrial Robots ; Jerk ; Vibration ; Machining
• 刊名：Control Engineering Practice
• 出版年：2010
• 出版时间：May 2010
• 年：2010
• 卷：18
• 期：5
• 页码：471-482
• 全文大小：1476 K

文摘

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.