High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F19%3APU134667" target="_blank" >RIV/00216305:26210/19:PU134667 - isvavai.cz</a>

Výsledek na webu

<a href="http://dx.doi.org/10.1109/EDPE.2019.8883912" target="_blank" >http://dx.doi.org/10.1109/EDPE.2019.8883912</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/EDPE.2019.8883912" target="_blank" >10.1109/EDPE.2019.8883912</a>

Jazyk výsledku

angličtina

Název v původním jazyce

High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation

Popis výsledku v původním jazyce

Robotic milling is also a flexible and easily reconfigurable system and compared to conventional CNC machines, it is also a cost-saving alternative. However, there is still one main limitation concerned with a lower absolute robot accuracy, in comparison with CNC machines, caused mainly by a lower stiffness of the robot's serial kinematics and/or a backlash error resulting from robot's drives reversion. In this paper, we mostly present experimental results (milling) in order to demonstrate real limitations of robotic machining based on a Leica Laser Tracker system and a measuring arm CimCore. There is also described an approach for online robot path compensation based on the Laser Tracker absolute measurements in real-time where we reached the accuracy of finished products to be from tenths of mm to hundreds of mm.

Název v anglickém jazyce

High Accurate Robotic Machining based on Absolute Part Measuring and On-Line Path Compensation

Popis výsledku anglicky

Robotic milling is also a flexible and easily reconfigurable system and compared to conventional CNC machines, it is also a cost-saving alternative. However, there is still one main limitation concerned with a lower absolute robot accuracy, in comparison with CNC machines, caused mainly by a lower stiffness of the robot's serial kinematics and/or a backlash error resulting from robot's drives reversion. In this paper, we mostly present experimental results (milling) in order to demonstrate real limitations of robotic machining based on a Leica Laser Tracker system and a measuring arm CimCore. There is also described an approach for online robot path compensation based on the Laser Tracker absolute measurements in real-time where we reached the accuracy of finished products to be from tenths of mm to hundreds of mm.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20301 - Mechanical engineering

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

19th International Conference on Electrical Drives and Power Electronics (EDPE): PROCEEDINGS

ISBN

978-1-7281-0389-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

143-148

Název nakladatele

Neuveden

Místo vydání

neuveden

Místo konání akce

Nový Smokovec

Datum konání akce

24. 9. 2019

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000560612700024