Assessment of industrial robots accuracy in relation to accuracy improvement in machining processes

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F16%3APU121975" target="_blank" >RIV/00216305:26210/16:PU121975 - isvavai.cz</a>

Result on the web

<a href="http://ieeexplore.ieee.org/document/7752083/" target="_blank" >http://ieeexplore.ieee.org/document/7752083/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/EPEPEMC.2016.7752083" target="_blank" >10.1109/EPEPEMC.2016.7752083</a>

Result language

angličtina

Original language name

Assessment of industrial robots accuracy in relation to accuracy improvement in machining processes

Original language description

Using standard 6 DOF industrial robots for machining applications represents a significant market potential. Industrial robots have become a tool for various machining processes due to its universality - an ability to perform any type of movement in space - and low price compared to CNC milling machines. However, there are still limitations concerned with a much lower absolute accuracy, in comparison with CNC machines, caused mainly by a low static stiffness of the whole serial kinematic chain of a 6 DOF robot. Using the robots for machining is rather limited to applications with lower geometrical accuracy. To expand a possible scope of applications into milling operations, a new methodology is proposed to address the problem of lower absolute accuracy and concerned with KUKA robots. First, an experimental investigation of sources of main errors, having the impact on the product accuracy and surface quality, is presented. In this paper, we also focused on a comparison of internal robots states (actual robot positions) with measurements obtained from external systems such as Ballbar and Laser Tracker systems. Based on this investigation focused on KUKA robots, an online method for compensating the main source of errors - backlash errors resulting from the drive reversion - is proposed.

Czech name

—

Czech description

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Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/TA04010421" target="_blank" >TA04010421: Online correction of robot paths based on sensor information</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

C - Předmět řešení projektu podléhá obchodnímu tajemství (§ 504 Občanského zákoníku), ale název projektu, cíle projektu a u ukončeného nebo zastaveného projektu zhodnocení výsledku řešení projektu (údaje P03, P04, P15, P19, P29, PN8) dodané do CEP, jsou upraveny tak, aby byly zveřejnitelné.

Article name in the collection

2016 IEEE International Power Electronics and Motion Control

ISBN

978-1-5090-1797-3

ISSN

—

e-ISSN

—

Number of pages

6

Pages from-to

720-725

Publisher name

The Institute of Electrical and Electronics Engineers

Place of publication

Varna, Bulgaria

Event location

Varna, Bulgaria

Event date

Sep 25, 2016

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000390590000105