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Hybrid compliance compensation for path accuracy enhancement in robot machining

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
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: Hybrid compliance compensation for path accuracy enhancement in robot machining
Language: English
Date: 30 April 2024
Place of Publication: Darmstadt
Year of primary publication: October 2020
Place of primary publication: Berlin ; Heidelberg
Publisher: Springer
Journal or Publication Title: Production Engineering : Research and Development
Volume of the journal: 14
Issue Number: 4
DOI: 10.26083/tuprints-00023949
Corresponding Links:
Origin: Secondary publication DeepGreen
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.

Uncontrolled Keywords: Robot-machining, Compliance compensation, Hybrid online/offline compensation, Compliance measurement
Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-239492
Classification DDC: 600 Technology, medicine, applied sciences > 620 Engineering and machine engineering
600 Technology, medicine, applied sciences > 670 Manufacturing
Divisions: 16 Department of Mechanical Engineering > Institut für Produktionstechnik und Umformmaschinen (PtU)
Date Deposited: 30 Apr 2024 11:04
Last Modified: 30 Jul 2024 09:40
SWORD Depositor: Deep Green
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/23949
PPN: 520215052
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