Qualification of standard industrial robots to cope with sophisticated assembly tasks

Gunther Reinhart, Ralf Gunter Gräser, Robert Klingel

Research output: Contribution to journalArticlepeer-review

9 Scopus citations


New fields of application such as low-tolerance laser welding, micro and precision assembly or measurement technology are to be achieved by standard industrial robots for higher economic efficiency. However actual implementation fails due to the temperaturedrift caused by time variable internal and external sources of heat. A compensation method for fast online-correction of the time variable, thermal robot behaviour is introduced. This method is based on measuring the temperature-caused deviations and subsequent compensation by software during operation. The presented results show that the temperature caused deviations are minimized to the level of the system inherent repeatability. Hence constant position accuracy of robots can be achieved.

Original languageEnglish
Pages (from-to)1-x1
JournalCIRP Annals - Manufacturing Technology
Issue number1
StatePublished - 1998


  • Assembling
  • On-line compensation
  • Robot accuracy


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