SHOE GRINDING CELL USING VIRTUAL MECHANISM APPROACH

Bojan Nemec, Leon Zlajpah

2008

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.

Paper Citation

in Harvard Style

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, pages 159-164. DOI: 10.5220/0001480901590164

in Bibtex Style

@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},
}

in EndNote Style

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
AU - Nemec B.
AU - Zlajpah L.
PY - 2008
SP - 159
EP - 164
DO - 10.5220/0001480901590164