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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/TA04010421" target="_blank" >TA04010421: Online korekce dráhy průmyslových robotů na základě senzorických dat</a><br>

Návaznosti

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

Rok uplatnění

2016

Kód důvěrnosti údajů

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.

Název statě ve sborníku

2016 IEEE International Power Electronics and Motion Control

ISBN

978-1-5090-1797-3

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

720-725

Název nakladatele

The Institute of Electrical and Electronics Engineers

Místo vydání

Varna, Bulgaria

Místo konání akce

Varna, Bulgaria

Datum konání akce

25. 9. 2016

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000390590000105