SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH

Bojan Nemec; Leon Zlajpah

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Paper

SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH

Topics: Industrial Networks and Automation; Robot Design, Development and Control

In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 159-164, 2008 , Funchal - Madeira, Portugal

Authors: Bojan Nemec and Leon Zlajpah

Affiliation: Jozef Stefan Institute, Slovenia

Keyword(s): Robotics, Redundant robot control, Force control, Shoe grinding.

Related Ontology Subjects/Areas/Topics: Industrial Networks and Automation ; Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This task redundancy was efficiently handled using virtual mechanism approach, where the tool is described as a serial mechanism.

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Paper citation in several formats:

Nemec, B. and Zlajpah, L. (2008). SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH. In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8111-31-9; ISSN 2184-2809, SciTePress, pages 159-164. DOI: 10.5220/0001480901590164

@conference{icinco08,
author={Bojan Nemec. and Leon Zlajpah.},
title={SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2008},
pages={159-164},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001480901590164},
isbn={978-989-8111-31-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH
SN - 978-989-8111-31-9
IS - 2184-2809
AU - Nemec, B.
AU - Zlajpah, L.
PY - 2008
SP - 159
EP - 164
DO - 10.5220/0001480901590164
PB - SciTePress