Improving robotic machining accuracy through experimental error investigation and modular compensation

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• 作者：Ulrich Schneider ; Manuel Drust…
• 关键词：Robotic machining ; Robot dynamics ; Robot modelling ; Error compensation ; Optical tracking
• 刊名：The International Journal of Advanced Manufacturing Technology
• 出版年：2016
• 出版时间：July 2016
• 年：2016
• 卷：85
• 期：1-4
• 页码：3-15
• 全文大小：2,410 KB
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• 作者单位：Ulrich Schneider (1)
  Manuel Drust (1)
  Matteo Ansaloni (2)
  Christian Lehmann (3)
  Marcello Pellicciari (2)
  Francesco Leali (2)
  Jan Willem Gunnink (4)
  Alexander Verl (1)
  
  1. Department of Robot and Assistive Systems, Fraunhofer Institute for Manufacturing Engineering and Automation (IPA), Nobelstr. 12, 70565, Stuttgart, Germany
  2. DIEF Engineering Department Enzo Ferrari, University of Modena and Reggio Emilia, Via Vignolese 905/B, 41125, Modena, Italy
  3. Chair of Automation Technology, Brandenburg University of Technology, Siemens-Halske-Ring 14, 03046, Cottbus, Germany
  4. Delcam PLC, Small Heath Business Park, Birmingham, B10 0HJ, UK
  
• 刊物类别：Engineering
• 刊物主题：Industrial and Production Engineering
  Production and Logistics
  Mechanical Engineering
  Computer-Aided Engineering and Design
  
• 出版者：Springer London
• ISSN：1433-3015
• 卷排序：85

文摘

Machining using industrial robots is currently limited to applications with low geometrical accuracies and soft materials. This paper analyzes the sources of errors in robotic machining and characterizes them in amplitude and frequency. Experiments under different conditions represent a typical set of industrial applications and allow a qualified evaluation. Based on this analysis, a modular approach is proposed to overcome these obstacles, applied both during program generation (offline) and execution (online). Predictive offline compensation of machining errors is achieved by means of an innovative programming system, based on kinematic and dynamic robot models. Real-time adaptive machining error compensation is also provided by sensing the real robot positions with an innovative tracking system and corrective feedback to both the robot and an additional high-dynamic compensation mechanism on piezo-actuator basis. Keywords Robotic machining Robot dynamics Robot modelling Error compensation Optical tracking