Name
Title | ||
|---|---|---|
Contour error-based optimization of the end-effector pose of a 6 degree-of-freedom serial robot in milling operation |
Abstract | ||
|---|---|---|
•A pose optimization method is proposed to improve the contour accuracy of robotic milling by minimizing contour errors induced by the low posture-dependent stiffness.•The deformation errors induced by cutting forces are predicted based on the robot stiffness model and simulated cutting forces.•A comprehensive contour error index is defined by integrating the statistical properties of contour errors.•Under the constraints of kinematics and smoothness, the optimal tool poses are obtained by minimizing contour error index through a discrete searching algorithm.•Simulation and experimental results show that the contour accuracy can be significantly improved using the proposed strategy when compared with traditional methods. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1016/j.rcim.2021.102257 | Robotics and Computer-Integrated Manufacturing |
Keywords | DocType | Volume |
Robotic milling,Pose optimization,Contour error,Kinematic constraints | Journal | 73 |
ISSN | Citations | PageRank |
0736-5845 | 0 | 0.34 |
References | Authors | |
0 | 6 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Junzhe Lin | 1 | 0 | 0.34 |
| Congcong Ye | 2 | 0 | 0.34 |
| Jixiang Yang | 3 | 0 | 0.68 |
| Huan Zhao | 4 | 1 | 6.44 |
| Han Ding | 5 | 499 | 78.16 |
| Ming Luo | 6 | 0 | 0.34 |