UR10e robot drift compensation for precision measurement applications
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F23%3A10253429" target="_blank" >RIV/61989100:27230/23:10253429 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/chapter/10.1007/978-3-031-32606-6_33" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-031-32606-6_33</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-031-32606-6_33" target="_blank" >10.1007/978-3-031-32606-6_33</a>
Alternative languages
Result language
angličtina
Original language name
UR10e robot drift compensation for precision measurement applications
Original language description
This paper deals with the possibility of low-cost on-line compensationfor thermally induced error. The aim is to compensate the drift of the UR10ecollaborative robot to the extent that the robot operates with the repeatabilityguaranteed by the manufacturer for the thermal steady state. Thus, the authorshave developed a compensation system that predicts drift and, by applying it inthe robot control, can reduce the difference in positioning between the cold andwarm robot. A measurement nest equipped with confocal sensor and a pair oflaser profilers was used to measure repeatability. The robot was also equippedwith sensors for temperature detection. The tests were carried out under differentconditions and ISO 9283:1998 standard was also considered. By applying theproposed methodology, drift can be compensated with a high degree of efficiency. In some measurements the drift was compensated completely, usually thecompensation efficiency was around 90%. Thanks to the compensation system,it is not necessary to pre-warm the robot and, above all, it is possible to guaranteea predetermined level of repeatability regardless of the actual robot or ambienttemperature.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20300 - Mechanical engineering
Result continuities
Project
<a href="/en/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Research Centre of Advanced Mechatronic Systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Mechanisms and machine science. Volume 135
ISBN
978-3-031-32605-9
ISSN
2211-0984
e-ISSN
2211-0992
Number of pages
8
Pages from-to
281-288
Publisher name
Springer
Place of publication
Cham
Event location
Bled
Event date
Jun 14, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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