KRATĚNA, T., et al. Postprocessor for Verification of Robot Movements with Additional Axis after Toolpath Optimization. In: 9th CIRP Conference on High Performance Cutting. on-line, 2021-05-24/2021-05-26. Amsterdam: Elsevier B.V., 2021. p. 154-157. ISSN 2212-8271. DOI 10.1016/j.procir.2021.02.018.
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.
eng
dc.format.mimetype
application/pdf
dc.language.iso
eng
dc.publisher
Elsevier B.V.
dc.relation.ispartof
9th CIRP Conference on High Performance Cutting
dc.subject
Robot
eng
dc.subject
Tool path
eng
dc.subject
Simulation
eng
dc.subject
Milling
eng
dc.subject
Computer aided manufacturing
eng
dc.subject
Postprocessor
eng
dc.subject
Robot stiffness
eng
dc.title
Postprocessor for Verification of Robot Movements with Additional Axis after Toolpath Optimization
