Abstract
Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of increasing robot machining accuracy, this contribution describes a solution approach for optimizing the stiffness over a desired milling path using the free degree of freedom of the machining process. The optimal motion is computed based on the semantic and mathematical interpretation of the manufacturing process modeled on its components: product, process and resource; and by configuring automatically a sample-based motion problem and the transition-based rapid-random tree algorithm for computing an optimal motion. The approach is simulated on a CAM software for a machining path revealing its functionality and outlining future potentials for the optimal motion generation for robotic machining processes.
Highlights
Robot systems have become more common in industry due to their low cost, flexibility and versatility
This publication addresses a method for automatically optimizing robot stiffness by minimizing deviations due to the robot compliance for a machining task using the free degree of freedom of the milling process
The state cost for optimizing robot stiffness in the milling process is defined as the translation deviations due to robot compliance caused by wrenches applied in each joint over the RMP C-space due to process forces and joint weights
Summary
Robot systems have become more common in industry due to their low cost, flexibility and versatility. One of the factors affecting the absolute positioning accuracy while machining is the lack of robot stiffness, which is the criterion studied and optimized, into a motion planning problem, in this research Another extra challenge of robotic machining is the time-consuming, expert-dependent and complex programming process. This research approaches the optimization problem of the kinematic redundancy of the milling process, automatically defines and configures the required spaces interpreting the constraints and DoF of the product and process for computing, in an automatic way, a stiff robot motion. The approach has been tested and evaluated in a developed CAM software, which uses as input state of the art formats used in CAM simulations This contribution is organized as follows: Section 2 defines the problem of motion generation for optimizing robot stiffness in machining processes.
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