Simulation of a Stäubli TX90 Robot during Milling Using SimMechanics

This paper proposes a simulation of a Staubli 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.