Publication detail
High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation
KUBELA, T. POCHYLÝ, A. SINGULE, V.
English title
High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation
Type
conference paper
Language
en
Original abstract
Robotic milling is also a flexible and easily reconfigurable system and compared to conventional CNC machines, it is also a cost-saving alternative. However, there is still one main limitation concerned with a lower absolute robot accuracy, in comparison with CNC machines, caused mainly by a lower stiffness of the robot's serial kinematics and/or a backlash error resulting from robot's drives reversion. In this paper, we mostly present experimental results (milling) in order to demonstrate real limitations of robotic machining based on a Leica Laser Tracker system and a measuring arm CimCore. There is also described an approach for online robot path compensation based on the Laser Tracker absolute measurements in real-time where we reached the accuracy of finished products to be from tenths of mm to hundreds of mm.
English abstract
Robotic milling is also a flexible and easily reconfigurable system and compared to conventional CNC machines, it is also a cost-saving alternative. However, there is still one main limitation concerned with a lower absolute robot accuracy, in comparison with CNC machines, caused mainly by a lower stiffness of the robot's serial kinematics and/or a backlash error resulting from robot's drives reversion. In this paper, we mostly present experimental results (milling) in order to demonstrate real limitations of robotic machining based on a Leica Laser Tracker system and a measuring arm CimCore. There is also described an approach for online robot path compensation based on the Laser Tracker absolute measurements in real-time where we reached the accuracy of finished products to be from tenths of mm to hundreds of mm.
Keywords in English
industrial robots;machine tools;machining;position control;robot kinematics
Released
28.10.2019
ISBN
978-1-7281-0389-1
Book
19th International Conference on Electrical Drives and Power Electronics (EDPE): PROCEEDINGS
Pages from–to
143–148
Pages count
6
BIBTEX
@inproceedings{BUT161054,
author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule},
title="High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation",
booktitle="19th International Conference on Electrical Drives and Power Electronics (EDPE): PROCEEDINGS",
year="2019",
month="October",
pages="143--148",
isbn="978-1-7281-0389-1"
}