Abstract
This paper presents a method to increase the operational accuracy of milling operations with industrial robots. Based on a real-time simulation model, whose stiffness parameters are identified by measurements with a 3D-Scanning-Laser-Doppler-Vibrometer, the forceinduced deviations of the Tool Center Point can be calculated. These deviations are transmitted to the robot controller as an offset-signal in reversed direction so that the robot follows ist programmed path despite the cutting forces.
Translated title of the contribution | Increasing operational accuracy of milling robots |
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Original language | German |
Pages (from-to) | 686-692 |
Number of pages | 7 |
Journal | WT Werkstattstechnik |
Volume | 103 |
Issue number | 9 |
State | Published - 2013 |