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"
}