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Modeling and identification of an industrial robot for machining applications

Abele, Eberhard ; Weigold, Matthias ; Rothenbücher, Stefan (2007)
Modeling and identification of an industrial robot for machining applications.
In: CIRP Annals - Manufacturing Technology, Elsevier, Manchester, 56 (1)
Artikel, Bibliographie

Kurzbeschreibung (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.

Typ des Eintrags: Artikel
Erschienen: 2007
Autor(en): Abele, Eberhard ; Weigold, Matthias ; Rothenbücher, Stefan
Art des Eintrags: Bibliographie
Titel: Modeling and identification of an industrial robot for machining applications
Sprache: Englisch
Publikationsjahr: 23 März 2007
Titel der Zeitschrift, Zeitung oder Schriftenreihe: CIRP Annals - Manufacturing Technology, Elsevier, Manchester
Jahrgang/Volume einer Zeitschrift: 56
(Heft-)Nummer: 1
Kurzbeschreibung (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.

Schlagworte:
Einzelne SchlagworteSprache
Robot, Machining, Structure modelnicht bekannt
Fachbereich(e)/-gebiet(e): 16 Fachbereich Maschinenbau
16 Fachbereich Maschinenbau > Institut für Produktionsmanagement und Werkzeugmaschinen (PTW)
Hinterlegungsdatum: 23 Mär 2009 10:25
Letzte Änderung: 18 Mär 2020 12:06
PPN:
Schlagworte:
Einzelne SchlagworteSprache
Robot, Machining, Structure modelnicht bekannt
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