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Modeling and identification of an industrial robot for machining applications

Abele, Eberhard and Weigold, Matthias and Rothenbücher, Stefan (2007):
Modeling and identification of an industrial robot for machining applications.
In: CIRP Annals - Manufacturing Technology, Elsevier, Manchester, (1), 56. pp. 387-390, [Article]

Abstract

Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system’s stiffness and its behavior during the milling process. Therefore a method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian matrix is introduced. Based on the results of the identification and the experimental validation the machining performance of the robot is evaluated and conclusions are drawn.

Item Type: Article
Erschienen: 2007
Creators: Abele, Eberhard and Weigold, Matthias and Rothenbücher, Stefan
Title: Modeling and identification of an industrial robot for machining applications
Language: English
Abstract:

Industrial robots represent a promising, cost-saving and flexible alternative for machining applications. Due to the kinematics of a vertical articulated robot the system behavior is quite different compared to a conventional machine tool. This article describes the modeling of the robot structure and the identification of its parameters with focus on the analysis of the system’s stiffness and its behavior during the milling process. Therefore a method for the calculation of the Cartesian stiffness based on the polar stiffness and the use of the Jacobian matrix is introduced. Based on the results of the identification and the experimental validation the machining performance of the robot is evaluated and conclusions are drawn.

Journal or Publication Title: CIRP Annals - Manufacturing Technology, Elsevier, Manchester
Journal volume: 56
Number: 1
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW)
Date Deposited: 23 Mar 2009 10:25
Alternative keywords:
Alternative keywordsLanguage
Robot, Machining, Structure modelUNSPECIFIED
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