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Hybrid Compliance Compensation for Path Accuracy Enhancement in Robot Machining

Hähn, Felix ; Weigold, Matthias (2020):
Hybrid Compliance Compensation for Path Accuracy Enhancement in Robot Machining.
In: Production Engineering : WGP, 14 (4), pp. 425-433. Springer Verlag, ISSN 0944-6524,
DOI: 10.1007/s11740-020-00976-7,
[Article]

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.

Item Type: Article
Erschienen: 2020
Creators: Hähn, Felix ; Weigold, Matthias
Title: Hybrid Compliance Compensation for Path Accuracy Enhancement in Robot Machining
Language: English
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.

Journal or Publication Title: Production Engineering : WGP
Volume of the journal: 14
Issue Number: 4
Publisher: Springer Verlag
Uncontrolled Keywords: Robot-machining, Compliance compensation, Hybrid online/offline compensation, Compliance measurement
Divisions: 16 Department of Mechanical Engineering
16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW)
16 Department of Mechanical Engineering > Institute of Production Technology and Machine Tools (PTW) > Machine tools and Components (2021 merged in TEC Fertigungstechnologie)
Date Deposited: 17 Sep 2020 06:37
DOI: 10.1007/s11740-020-00976-7
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