Automatic Tool Path Generation for Robot Integrated Surface Sculpturing System

Zhu, Jiang; Suzuki, Ryo; Tanaka, Tomohisa; Saitō, Yoshio

doi:10.1299/jamdsm.2.812

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…Robot manipulators have been playing an important role in various kinds of engineering fields. They have been widely used to perform effective and high-intensive repetitive work, such as car assembling, logistics handling, and sculpturing [1–3]. Robot arms usually have two types in needs of special operators.…”

Section: Introductionmentioning

confidence: 99%

A Repeatable Motion Scheme for Kinematic Control of Redundant Manipulators

Kong

Tang

Zhang

et al. 2019

Computational Intelligence and Neuroscience

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To achieve closed trajectory motion planning of redundant manipulators, each joint angle has to be returned to its initial position. Most of the repeatable motion schemes have been proposed to solve kinematic problems considering only the initial desired position of each joint at first. Actually, it is very difficult for various joint angles of the robot arms to be positioned in the expected trajectory before moving. To construct an effective kinematic model, a novel optimal programming index based on a recurrent neural network is designed and analyzed in this paper. The repetitiveness and timeliness are presented and analyzed. Combining the kinematic equation constraint of manipulators, a repeatable motion scheme is formulated. In addition, the Lagrange multiplier theorem is introduced to prove that such a repeatable motion scheme can be converted into a time-varying linear equation. A finite-time neural network solver is constructed for the solution of the motion scheme. Simulation results for two different trajectories illustrate the accuracy and timeliness of the proposed motion scheme. Finally, two different repetitive schemes are compared and verified the optimal time for the novelty of the proposed kinematic scheme.

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Section: Introductionmentioning

confidence: 99%

A Repeatable Motion Scheme for Kinematic Control of Redundant Manipulators

Kong

Tang

Zhang

et al. 2019

Computational Intelligence and Neuroscience

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Tool Orientation Angle Optimization for a Multi-Axis Robotic Milling System

Silva¹,

Yoshioka²,

Shinno³

et al. 2019

IJAT

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The present study introduces a novel tool orientation angle optimization method for improving the machining accuracy of robotic milling systems. The proposed approach considers the intrinsic properties of serial mechanisms and their relationship with robotic stiffness to select optimal robot postures in the generation of tool orientation angle for finish cut. The evaluation of the robotic stiffness is carried out with two performance indices presented in this study: the volumetric stiffness performance index, which measures the overall robot stiffness, and the unidirectional stiffness performance index, which measures the robotic stiffness along a specific direction. As machining errors are reduced by optimally selecting the tool orientation angle without modifications to the tool path itself, the proposed method is significantly less convoluted than conventional optimization methods. The efficacy of the proposed method is validated experimentally using a purpose-designed multi-axis milling robot. Experimental results show that the robotic milling system is capable of machining three-dimensional shapes with a fine surface, and reducing the twist caused by the displacement of the cutting tool towards the direction of lowest robotic stiffness.

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Automatic Tool Path Generation for Robot Integrated Surface Sculpturing System

Cited by 2 publications

References 10 publications

A Repeatable Motion Scheme for Kinematic Control of Redundant Manipulators

A Repeatable Motion Scheme for Kinematic Control of Redundant Manipulators

Tool Orientation Angle Optimization for a Multi-Axis Robotic Milling System

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