UR10e robot drift compensation for precision measurement applications

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

UR10e robot drift compensation for precision measurement applications

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

UR10e robot drift compensation for precision measurement applications

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

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OECD FORD obor

20300 - Mechanical engineering

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název statě ve sborníku

Mechanisms and machine science. Volume 135

ISBN

978-3-031-32605-9

ISSN

2211-0984

e-ISSN

2211-0992

Počet stran výsledku

8

Strana od-do

281-288

Název nakladatele

Springer

Místo vydání

Cham

Místo konání akce

Bled

Datum konání akce

14. 6. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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