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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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • 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