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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Toolpath postprocessing for three axes milling in redundant robotic workcells by means of fuzzy integration in a cam platform
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Toolpath postprocessing for three axes milling in redundant robotic workcells by means of fuzzy integration in a cam platform

机译：通过凸轮平台中的模糊集成，在冗余机器人工作单元中进行三轴铣削的刀具路径后处理

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Nowadays, the use of kinematically redundant robotic workcells for machining tasks is increasing. It is due to their capacity to avoid singular configurations, although a choice among a set of possible configurations is required. Experience and knowledge of the workman in charge of the manufacturing process allow carrying out an efficient control of the movement in these cases. However, it is a tedious job. This article presents an effective implementation of a CAM-robotics integrated fuzzy postprocessor based on the position analysis. It is focused on a workcell consisting of one robotic manipulator (KUKA KR15/2 with 6 rotary joints) mounted on a linear axis and synchronized with a rotary table. After the implementation of the inverse kinematics position analysis, a stand-alone fuzzy controller has been programmed with Matlab's fuzzy logic toolbox (The MathWorks, Inc.). Two C++ programs complement the translation of toolpath position information from the NX-CAM platform (NXtrade-Siemens Corp.) into KRL (KUKA robot language), in order to adequate the location of the robot and the workpiece in the execution of the task and avoiding singularities or joint limits. This article solves the problem for a constant tool orientation milling process and sets the technological basis for future research at five axis milling operations.
机译：如今，运动学上冗余的机器人工作单元越来越多地用于加工任务。尽管需要在一组可能的配置中进行选择，但这是由于它们避免单一配置的能力。在这种情况下，负责制造过程的工人的经验和知识可以对机芯进行有效控制。但是，这是一项繁琐的工作。本文提出了基于位置分析的CAM机器人集成模糊后处理器的有效实现。它的重点是工作单元，该工作单元由一个安装在线性轴上并与旋转工作台同步的机器人机械手（具有6个旋转接头的KUKA KR15 / 2）组成。进行逆运动学位置分析后，已使用Matlab的模糊逻辑工具箱（MathWorks，Inc.）对独立的模糊控制器进行了编程。两个C ++程序对将刀具路径位置信息从NX-CAM平台（NXtrade-Siemens Corp.）转换为KRL（KUKA机器人语言）进行了补充，以便在执行任务和执行任务时充分定位机器人和工件的位置。避免奇异或关节极限。本文解决了恒定的刀具定向铣削过程中的问题，并为将来在五轴铣削操作中的研究奠定了技术基础。

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