Postprocessor for Verification of Robot Movements with Additional Axis after Toolpath Optimization
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This paper discusses a postprocessor for milling robots connected to additional linear machine axes where toolpath is optimized with respect to variable properties of the robot in its workspace. A toolpath optimization method is proposed based on an experimentally verifiedrobot stiffness model. After postprocessor distribution of the movements between the robot and the linear axes, the collision states during machiningcannot be verified in common CAM. Therefore, a solution enabling simulation of movements after optimization is proposed. The tool center point coordinates are used to control the robot and additional machine axes, while the joint coordinates calculated by inverse kinematic transformation are used to verify the movements.
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