Calibration and control of a redundant robotic workcell for milling tasks

Javier Andres (1) , Luis Gracia (2) , Josep Tornero (2)

1 Instituto de Diseño y Fabricación (IDF)
2 Department of Systems Engineering and Control (DISA)

This paper deals with the tuning of a complex robotic workcell of eight joints devoted to milling tasks. It consists of a KUKA manipulator mounted on a linear track and synchronised with a rotary table. Prior to any machining, the additional joints require an in situ calibration in an industrial environment. For this purpose, a novel planar calibration method is developed to estimate the external joint configuration parameters by means of a laser displacement sensor and avoiding direct contact with the pattern. Moreover, a redundancy resolution scheme on the joint rate level is integrated within a CAM system for the complete control of the workcell during the path tracking of a milling task. Finally, the whole system is tested in the prototyping of an orographic model.

Mots clés: Physical Sciences

Domaines: Sciences de l'ingénieur [physics]

Javier Andres, Luis Gracia, Josep Tornero. Calibration and control of a redundant robotic workcell for milling tasks. International Journal of Computer Integrated Manufacturing, 2011, 24 (06), pp.561-573. ⟨10.1080/0951192X.2011.566284⟩. ⟨hal-00701860⟩