![]() ![]() ![]() The robot job or task is defined by the set of surfaces of the raw object and of the object after being processed, by subtracting these two surfaces the robot task is given by the set of points resulted after the subtraction. The experimental setup was created using an ABB (ASEA Brown Boveri) IRB 140 robot on which was mounted an engraving tool (which was equipped with a high frequency vibrating pin) or a drilling tool (an electric milling machine controlled with I/O signals) and a computer which is executing a CAD application allowing the design of the path that the robot must follow in order to execute the engraving/milling task. ![]() This chapter presents a software system created to allow to design complex robot trajectories in the cartesian space, used for tasks like milling or engraving with the aid of a robot. ![]()
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