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• W1985233308 abstract "This article 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 computer aided manufacturing 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." @default.
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• W1985233308 date "2011-06-01" @default.
• W1985233308 modified "2023-09-26" @default.
• W1985233308 title "Calibration and control of a redundant robotic workcell for milling tasks" @default.
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• W1985233308 doi "https://doi.org/10.1080/0951192x.2011.566284" @default.
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