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

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.