Offline workpiece calibration method for robotic reconfigurable machining platform

Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA) Pub Date : 2014-09-01 DOI:10.1109/ETFA.2014.7005246

F. Pini, F. Leali, Matteo Ansaloni

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引用次数: 7

Abstract

Recent trends in industrial manufacturing impose the adoption of changeable systems, based on reconfigurable and flexible equipment. In this scenario, industrial robotics platforms are central to design highly reconfigurable systems. A Robotic Reconfigurable Machining Platform (RRMP), as defined, is a modular architecture for robotic workcells, designed in order to exploit the flexibility features of robots and extend their field of application to high precision machining. RRMP calibration is a key task, which involves calibration of tools, workpieces and peripherals. However, state-of-the-art calibration methods and tools lead to hardly predictable system downtime, which impacts the reconfiguration phase. A novel method to perform the workpiece calibration is proposed for the reduction of the reconfiguration efforts in RRMPs. The method is addressed through a full integration with a virtual environment for robot simulation and programming. The method is finally applied to an industrial case study and compared to the most widely diffused online approach.

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机器人可重构加工平台的离线工件标定方法

工业制造的最新趋势是采用基于可重构和柔性设备的可变系统。在这种情况下，工业机器人平台是设计高度可重构系统的核心。机器人可重构加工平台(RRMP)是一种针对机器人工作单元的模块化体系结构，其目的是利用机器人的柔性特性，将其应用领域扩展到高精度加工领域。RRMP校准是一项关键任务，涉及刀具、工件和外设的校准。然而，最先进的校准方法和工具导致难以预测的系统停机时间，这影响了重新配置阶段。提出了一种新的工件标定方法，以减少RRMPs中的重构工作量。该方法是通过与机器人仿真和编程的虚拟环境完全集成来解决的。最后将该方法应用于一个工业案例研究，并与最广泛传播的在线方法进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 2014 IEEE Emerging Technology and Factory Automation (ETFA)

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