A reconfiguration concept to enable versatile production in the automotive factories

Minhas, Sarfraz Ul Haque; Berger, Ulrich

doi:10.1007/978-3-642-23860-4_58

Cited by 1 publication

(1 citation statement)

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“…Thereby it was possible to minimise the influence of the dry machining situation and focus on the peculiarities of the robots mechanical structure and controller. A robot cell for milling applications was implemented in an existing reconfigurable production cell based on the Smart Robot Tooling Concept introduced in [11]. Center of the setup is a KUKA KR125 robot with a KRC1 controller linked to a programmable automation controller (PAC).…”

Section: Experimental Validationmentioning

confidence: 99%

Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences

Lehmann

Halbauer

Euhus³

et al. 2012

Proceedings of 2012 IEEE 17th International Conference on Emerging Technologies &Amp; Factory Automation (ETFA 2012)

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Industrial robots offer a good basis for machining from a conceptual point of view. However they are rarely utilized for machining applications in industry due to their low stiffness and the bad achievable work piece quality. Available solutions using position control of the tool require costly additional hardware and measurement equipment; force controlled solutions depend on low level controller access that is not commonly available for generic cell setups. This paper proposes a three-step approach to compensate for process force induced accuracy errors: (1) selection of appropriate milling strategies and cutting parameters, (2) an offline compensation of the force induced deviations and (3) a respective online compensation method. Experimental validation of the results has been performed for the first two steps.

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Section: Experimental Validationmentioning

confidence: 99%