A prototype robot for polishing and milling large objects
- 1 February 2003
- journal article
- Published by Emerald in Industrial Robot: the international journal of robotics research and application
- Vol. 30 (1), 67-76
- https://doi.org/10.1108/01439910310457733
Abstract
The paper describes a prototype robot which due to its serial‐parallel structure exhibits, high stiffness and has a large work envelope. These features make this robot suitable for relatively high precision machining operations on large workpieces. The conroller for this robot was based on MRROC++, which is a robot programming framework. Thus the controller could be tailored to the tasks at hand, including the capability of in‐program switching of kinematic model parameters. To obtain those parameters for different locations in the work‐space a calibration procedure using linear measurement guides has been devised.Keywords
This publication has 9 references indexed in Scilit:
- Interfacing different layers of a multilayer architecture for sensorimotor systems using the object-oriented framework SMARTSOFTPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The GEC Tetrabot-a new serial-parallel assembly robotPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A task description language for robot controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- DCA: a distributed control architecture for roboticsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- By how much should a general purpose programming language be extended to become a multi-robot system programming language?Advanced Robotics, 2001
- Development of the Design of Polycrank Manipulator Without Joint LimitsPublished by Springer Science and Business Media LLC ,2000
- GENERIS: the EC‐JRC generalised software control system for industrial robotsIndustrial Robot: the international journal of robotics research and application, 1999
- The MRROC++ systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1999
- An Architecture for AutonomyThe International Journal of Robotics Research, 1998