Overview of the State of Robotic Machining: Current Situation and Future Potential

Iglesias, I.; Pérez, Miguel Ángel Sebastián; Ares, E.

doi:10.1016/j.proeng.2015.12.577

Cited by 129 publications

(49 citation statements)

References 5 publications

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“…The applied control law (15) leads to the description of a closed system (with feedback) in form (18), which, in the analysed example, takes the form:…”

Section: Fig 2 Structure Of Neural Networkmentioning

confidence: 99%

Position/Force Control of Manipulator in Contact with Flexible Environment

Gierlak

2019

Acta Mechanica Et Automatica

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The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.

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“…The applied control law (15) leads to the description of a closed system (with feedback) in form (18), which, in the analysed example, takes the form:…”

Section: Fig 2 Structure Of Neural Networkmentioning

confidence: 99%

Position/Force Control of Manipulator in Contact with Flexible Environment

Gierlak

2019

Acta Mechanica Et Automatica

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“…This is mainly because industrial robots are constructed as a cantilever in which each link is supported by motors, brakes, and reduction gears (Pandremenos et al 2011). Robot stiffness and system natural frequencies produce deflections and vibrations of the tool center point (of the milling cutter) during the machining process (Iglesias et al 2015). Industrial robots are therefore not the first choice for machining tasks, especially of hard materials.…”

Section: Bringing Creative Robotics To Valparaísomentioning

confidence: 99%

Roboticus tignarius: robotic reproduction of traditional timber joints for the reconstruction of the architectural heritage of Valparaíso

2017

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The architectural heritage of Valparaíso, Chile is disappearing before our eyes while all the conventional resources to reverse this situation seem to have been exhausted. A large portion of the existing historic building substance consists of timber frames that succumb one after another to weathering, termites and structural fires. The acute shortage of traditional timber framers and a weak local heritage industry feed investors' disinterest in preserving the original structural conception of these timberframed buildings when they need restoration or rehabilitation. There is a need for technological innovation enabling one-off production of complex-skilled joinery at competitive costs. Robotic machining emerges as a flexible and customizable alternative to the missing timber framers and the insensible substitution of original timber joints for metal fasteners. We present a proof-of-concept of parametric 3D modelling and robot path generation using a single visual scripting environment integrated to CAD software that requires no knowledge of robot programming and might encourage designers as well as small-and medium-sized manufacturers to develop a local heritage industry. Several classes of timber joints found in Valparaíso were parameterized and instances thereof manufactured by a six-axis industrial robot with a spindle mounted thereon to gain empirical knowledge of the entire process. Experimental results show that procedural modelling of parts, assemblies, and tool paths in the tested visual scripting environment is time-consuming and rather complicated for conventional architectural thinking, but is largely compensated by its software and hardware interaction potential.

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“…Thank to the improvements of robots kinematics and dynamics performance, the use of industrial robots in the field of machining applications has profitably increased during the last years [22]. However, industrial robots still have low kinematics and dynamics performance if compared to CNC machines, hence a kinodynamic motion planning can be a suitable solution to tackle such limitations.…”

Section: Introductionmentioning

confidence: 99%

Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications

et al. 2019

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The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the kinematic redundancy that is often present in these applications to optimize the execution of trajectory. At the same time, the robot kinematics and dynamics constraints are respected and robot collisions are avoided. To reduce the computational burden, the task workspace is discretized enabling the use of efficient network solver based on Ant Colony theory. The proposed method is validated in robotic milling and additive manufacturing real-world scenarios.

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Overview of the State of Robotic Machining: Current Situation and Future Potential

Cited by 129 publications

References 5 publications

Position/Force Control of Manipulator in Contact with Flexible Environment

Position/Force Control of Manipulator in Contact with Flexible Environment

Roboticus tignarius: robotic reproduction of traditional timber joints for the reconstruction of the architectural heritage of Valparaíso

Optimal Robot Motion Planning of Redundant Robots in Machining and Additive Manufacturing Applications

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