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Simulation des Fräsens mit Industrierobotern: Trajektorienplanung und experimentelle Parameteridentifikation

Englert, Peter (2011):
Simulation des Fräsens mit Industrierobotern: Trajektorienplanung und experimentelle Parameteridentifikation.
Darmstadt, Technische Universität Darmstadt, Fachbrereich Informatik, Simulation, Systemoptimierung und Robotik, [Bachelor Thesis]

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.

Item Type: Bachelor Thesis
Erschienen: 2011
Creators: Englert, Peter
Title: Simulation des Fräsens mit Industrierobotern: Trajektorienplanung und experimentelle Parameteridentifikation
Language: German
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.

Place of Publication: Darmstadt
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 09 Jul 2019 10:40
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