Hähn, Felix ; Weigold, Matthias (2024)
Hybrid compliance compensation for path accuracy enhancement in robot machining.
In: Production Engineering : Research and Development, 2020, 14 (4)
doi: 10.26083/tuprints-00023949
Artikel, Zweitveröffentlichung, Verlagsversion
 | Es ist eine neuere Version dieses Eintrags verfügbar. |
Kurzbeschreibung (Abstract)
Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control.
| Typ des Eintrags: | Artikel |
|---|---|
| Erschienen: | 2024 |
| Autor(en): | Hähn, Felix ; Weigold, Matthias |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Hybrid compliance compensation for path accuracy enhancement in robot machining |
| Sprache: | Englisch |
| Publikationsjahr: | 30 April 2024 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | Oktober 2020 |
| Ort der Erstveröffentlichung: | Berlin ; Heidelberg |
| Verlag: | Springer |
| Titel der Zeitschrift, Zeitung oder Schriftenreihe: | Production Engineering : Research and Development |
| Jahrgang/Volume einer Zeitschrift: | 14 |
| (Heft-)Nummer: | 4 |
| DOI: | 10.26083/tuprints-00023949 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/23949 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichung DeepGreen |
| Kurzbeschreibung (Abstract): | Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control. |
| Freie Schlagworte: | Robot-machining, Compliance compensation, Hybrid online/offline compensation, Compliance measurement |
| Status: | Verlagsversion |
| URN: | urn:nbn:de:tuda-tuprints-239492 |
| Sachgruppe der Dewey Dezimalklassifikatin (DDC): | 600 Technik, Medizin, angewandte Wissenschaften > 620 Ingenieurwissenschaften und Maschinenbau 600 Technik, Medizin, angewandte Wissenschaften > 670 Industrielle und handwerkliche Fertigung |
| Fachbereich(e)/-gebiet(e): | 16 Fachbereich Maschinenbau 16 Fachbereich Maschinenbau > Institut für Produktionstechnik und Umformmaschinen (PtU) |
| Hinterlegungsdatum: | 30 Apr 2024 11:04 |
| Letzte Änderung: | 02 Mai 2024 07:14 |
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| Suche nach Titel in: | TUfind oder in Google |
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- Hybrid compliance compensation for path accuracy enhancement in robot machining. (deposited 30 Apr 2024 11:04) [Gegenwärtig angezeigt]
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