Simulation of a Stäubli TX90 Robot during Milling Using SimMechanics

Hiba Hage; Philippe Bidaud; Nicolas Jardin

doi:10.4028/www.scientific.net/AMM.162.403

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 162Simulation of a Stäubli TX90 Robot during Milling...

Simulation of a Stäubli TX90 Robot during Milling Using SimMechanics

Abstract:

This paper proposes a simulation of a Stäubli TX90 robot based on SimMechanics Toolbox of Matlab. The goal is to predict the position and trajectory of its end-effector, with high reliability. The simulator takes into consideration loading, deformations, calibrated kinematic parameters, and all eventual sources of disturbance. An application to milling and a comparison between real and simulated data reveal the reliability and the accuracy of the simulator.

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Periodical:

Applied Mechanics and Materials (Volume 162)

Pages:

403-412

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.162.403

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Online since:

March 2012

Authors:

Hiba Hage, Philippe Bidaud, Nicolas Jardin

Keywords:

Milling, Robot Manipulator, Simulation

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References

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