Steigerung der Arbeitsgenauigkeit von Fräsrobotern: Höhere Genauigkeit durch steuerungstechnische Kompensation der Roboter-Abdrängung

Translated title of the contribution: Increasing operational accuracy of milling robots

O. Rösch, M. F. Zäh

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

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 contributionIncreasing operational accuracy of milling robots
Original languageGerman
Pages (from-to)686-692
Number of pages7
JournalWT Werkstattstechnik
Volume103
Issue number9
StatePublished - 2013

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