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A prototype robot for polishing and milling large objects

Cezary Zieliński (Cezary Zieliński is based at the Institute of Control and Computation Engineering, Warsaw, Poland.)
Krzysztof Mianowski (Krzysztof Mianowski is with Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Warsaw, Poland.)
Kazimierz Nazarczuk (Kazimierz Nazarczuk is with Warsaw University of Technology, Institute of Aeronautics and Applied Mechanics, Warsaw, Poland.)
Wojciech Szynkiewicz (Wojciech Szynkiewicz is based at the Institute of Control and Computation Engineering, Warsaw, Poland.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 2003

990

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

Citation

Zieliński, C., Mianowski, K., Nazarczuk, K. and Szynkiewicz, W. (2003), "A prototype robot for polishing and milling large objects", Industrial Robot, Vol. 30 No. 1, pp. 67-76. https://doi.org/10.1108/01439910310457733

Publisher

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MCB UP Ltd

Copyright © 2003, MCB UP Limited

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