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Model-based off-line compensation of path deviation for industrial robots in milling applications

Model-based off-line compensation of path deviation for industrial robots in milling applications,10.1109/AIM.2011.6027113,C. Reinl,M. Friedmann,J. Ba

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Model-based off-line compensation of path deviation for industrial robots in milling applications  
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The scope of applications for industrial robots is limited in cases with strong forces at the end effector and high positioning and path accuracies required. Thus, their use in machining applications as a cost-saving, flexible alternative for machining tools is restricted due to mechanical compliance. A model-based off-line concept is presented to analyze, predict, and compensate the resulting path deviation of the robot under process force in milling applications. For this purpose a rigid multi-body dynamics model of the robot extended with additional joint elasticities and tilting effects is coupled with a material removal simulation providing the process forces. After systematically adjusting model parameters, an efficient simulation-based path correction strategy shows significant improvements of path accuracy. The general framework is ap- plicable to any tree structured robots and allows for sensitivity analysis with respect to arbitrary model parameters. I. MOTIVATION Major fields of machining applications for industrial robots are automated pre-machining, deburring and fettling of cast parts or trimming of carbon fiber reinforced laminate. Due to a kinematic structure with usually six axes industrial robots can cover a large working space and are able to reach difficult work piece positions, so that they can be applied to perform complex machining operations. Therefore, compared to stan- dard machine tools, industrial robots on the one hand offer an economic machining while they do only reach a limited absolute and repeat accuracy on the other hand; e.g. the repeat accuracy of the industrial robot used for the research presented in this paper is 0:06 mm (11).
Conference: IEEE/ASME International Conference on Advanced Intelligent Mechatronics - AIM , pp. 367-372, 2011
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