Englert, Peter (2011)
Simulation des Fräsens mit Industrierobotern: Trajektorienplanung und experimentelle Parameteridentifikation.
Technische Universität Darmstadt
Bachelorarbeit, Bibliographie
Kurzbeschreibung (Abstract)
Recently, industrial robots are increasingly used for cutting soft material. Due to their high compliance compared to standard milling machines, industrial robots are not optimally suited for milling tasks with hard material. Because of the milling process and its process force, a static displacement and a low frequent oscillation of the Tool Center Point (TCP) is induced. This has negative effects on the quality of a workpiece. In contrast, industrial robots are cost-saving with respect to workspace and more flexible for application to different tasks. For achieving higher accuracy of robots in milling applications, currently a model-based offline compensation is used in research and development. For this strategy, a coupled simulation of the robot model and the milling process model is used which calculates the deviation of the TCP under process forces. Based on these results a compensating cutting path is calculated with a path correction strategy. In this work, two aspects of the model-based offline compensation are examined. First, several tests are performed for parameter identification, that adapts the existing robot model with measurement data to a real robot. Furthermore, a trajectory planning module is implemented into an existing program framework for generating the trajectory on which the simulation and compensation of the milling forces is performed. This significantly improves the accuracy of the compensation strategy and extends the applicability of the model-based offline compensation to more complex workpieces.
| Typ des Eintrags: | Bachelorarbeit |
|---|---|
| Erschienen: | 2011 |
| Autor(en): | Englert, Peter |
| Art des Eintrags: | Bibliographie |
| Titel: | Simulation des Fräsens mit Industrierobotern: Trajektorienplanung und experimentelle Parameteridentifikation |
| Sprache: | Deutsch |
| Publikationsjahr: | 2011 |
| Ort: | Darmstadt |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Recently, industrial robots are increasingly used for cutting soft material. Due to their high compliance compared to standard milling machines, industrial robots are not optimally suited for milling tasks with hard material. Because of the milling process and its process force, a static displacement and a low frequent oscillation of the Tool Center Point (TCP) is induced. This has negative effects on the quality of a workpiece. In contrast, industrial robots are cost-saving with respect to workspace and more flexible for application to different tasks. For achieving higher accuracy of robots in milling applications, currently a model-based offline compensation is used in research and development. For this strategy, a coupled simulation of the robot model and the milling process model is used which calculates the deviation of the TCP under process forces. Based on these results a compensating cutting path is calculated with a path correction strategy. In this work, two aspects of the model-based offline compensation are examined. First, several tests are performed for parameter identification, that adapts the existing robot model with measurement data to a real robot. Furthermore, a trajectory planning module is implemented into an existing program framework for generating the trajectory on which the simulation and compensation of the milling forces is performed. This significantly improves the accuracy of the compensation strategy and extends the applicability of the model-based offline compensation to more complex workpieces. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 09 Jul 2019 10:40 |
| Letzte Änderung: | 09 Jul 2019 10:40 |
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