A gravitational deflection compensation strategy for HPKMs

Eastwood, Sara; Webb, Philip

doi:10.1016/j.rcim.2010.03.009

Cited by 10 publications

(8 citation statements)

References 4 publications

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“…So, it is suitable for the large-scale production only. Another compensation methodology has been proposed by Eastwood and Webb [3] that was used for gravitational deflection compensation for hybrid parallel kinematic machines. This paper focuses on the modification of control program that is considered to be more realistic in practice.…”

Section: Introductionmentioning

confidence: 99%

Compliance Error Compensation in Robotic-Based Milling

Klimchik¹,

Bondarenko²,

Pashkevich³

et al. 2014

Lecture Notes in Electrical Engineering

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Abstract. The paper deals with the problem of compliance errors compensation in robotic-based milling. Contrary to previous works that assume that the forces/torques generated by the manufacturing process are constant, the interaction between the milling tool and the workpiece is modeled in details. It takes into account the tool geometry, the number of teeth, the feed rate, the spindle rotation speed and the properties of the material to be processed. Due to high level of the disturbing forces/torques, the developed compensation technique is based on the non-linear stiffness model that allows us to modify the target trajectory taking into account nonlinearities and to avoid the chattering effect. Illustrative example is presented that deals with robotic-based milling of aluminum alloy.

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Section: Introductionmentioning

confidence: 99%

Compliance Error Compensation in Robotic-Based Milling

Klimchik¹,

Bondarenko²,

Pashkevich³

et al. 2014

Lecture Notes in Electrical Engineering

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show abstract

“…Eastwood and Webb [26] proposed polar compensation methodology for gravitational deflection compensation for hybrid parallel kinematic machines. In some other works [26,27] the problems of geometrical and compliance errors compensation have been considered simultaneously but these techniques cannot be applied to robot-based machining directly. Hence, to be applied to the robotic-based machining, the existing compliance errors compensation techniques should be essentially revised to take into account essential forces and torques as well as some other important error sources (inaccuracy in serial chains, for instance).…”

Section: Problem Of Compliance Error Compensationmentioning

confidence: 99%

Compliance error compensation technique for parallel robots composed of non-perfect serial chains

Klimchik

Pashkevich

Chablat

et al. 2013

Robotics and Computer-Integrated Manufacturing

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International audienceThe paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account the influence of non-perfect geometry of serial chains caused by manufacturing errors. Within the developed technique, the deviation compensation reduces to an adjustment of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with groove milling by the Orthoglide manipulator that considers different locations of the workpiece. It is also demonstrated that the impact of the compliance errors and the errors caused by inaccuracy in serial chains cannot be taken into account using the superposition principle

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“…This issue becomes extremely important in the aerospace industry, where the accuracy requirements are very high but the materials are hard to process. In this case, the manipulator stiffness modelling and corresponding error compensation technique are the key points [2][3][4][5], where in addition to accurate geometric model a sophisticated elastostatic one is required.…”

Section: Introductionmentioning

confidence: 99%

Identification of the manipulator stiffness model parameters in industrial environment

Klimchik

Furet

Caro

et al. 2015

Mechanism and Machine Theory

130

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International audienceThe paper addresses a problem of robotic manipulator calibration in real industrial environment. The main contributions are in the area of the elastostatic parameter identification. In contrast to other works the considered approach takes into account the elastic properties of both links and joints. Particular attention is paid to the practical identifiability of the model parameters, which completely differs from the theoretical one that relies on the rank of the observation matrix only, without taking into account essential differences in the model parameter magnitudes and the measurement noise impact. This problem is relatively new in robotics and essentially differs from that arising in geometrical calibration. To solve the problem, physical algebraic and statistical model reduction methods are proposed. They are based on the stiffness matrix sparseness taking into account the physical properties of the manipulator elements, structure of the observation matrix and also on the heuristic selection of the practically non-identifiable parameters that employ numerical analyses of the parameter estimates. The advantages of the developed approach are illustrated by an application example that deals with the elastostatic calibration of an industrial robot in a real industrial environment. (C) 2015 Elsevier Ltd. All rights reserved

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A gravitational deflection compensation strategy for HPKMs

Cited by 10 publications

References 4 publications

Compliance Error Compensation in Robotic-Based Milling

Compliance Error Compensation in Robotic-Based Milling

Compliance error compensation technique for parallel robots composed of non-perfect serial chains

Identification of the manipulator stiffness model parameters in industrial environment

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