Joint stiffness identification of six-revolute industrial serial robots

Original scientific paper Applications of robot manipulators in surgery are nowadays a very actual field of research. Still, there are a number of technical problems when setting and preparing robotical systems for various operation procedures. One of them is the robot-patient placement. When placing robots in respect to known target working positions it is crucial to assure feasible positioning where all required motions can be executed with no kinematic or collision problems. A planning method for robot placement suitable for neurosurgical operations is presented in this paper. The planning method is based on a multi-objective cost function which is composed of criteria that balance dexterity properties with a novel collision avoiding parameter. Use of the planning approach is implemented and validated on a dual arm robot setup. Keywords: robot; collaboration; position planning; neurosurgery Planiranje prostornog razmještaja suradničkih robota i njihova primjena u neurokirurgijiIzvorni znanstveni članak Primjena robotskih manipulatora u medicini danas je vrlo aktualno područje istraživanja. Unatoč tome još uvijek postoji velik broj problema koji se javljaju kod pripreme većine robotiziranih operacijskih postupaka. Jedan od glavnih je pozicioniranje robota u odnosu na pacijenta. Kod postavljanja robota u odnosu na unaprijed poznate radne točke potrebno je osigurati efikasnu poziciju robota iz koje se sve zadane kretnje mogu izvršiti bez kinematskih problema i kolizija. U radu je predstavljena metoda za planiranje prostornog razmještaja robota prikladna za primjenu u neurokirurgiji. Razvijena metoda počiva na višeciljnoj optimizaciji funkcije cilja koja je sastavljena od kriterija koji objedinjuju prostornu upravljivost robota sa izbjegavanjem kolizija. Primjena razvijene metode validirana je na dvoručnom sustavu robota.

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“…The characteristic length is obtained by the procedure presented in [16]. Normalization of the Jacobian was made using the form shown in [17]:…”

Section: Condition Numbermentioning

confidence: 99%

Position planning for collaborating robots and its application in neurosurgery

et al. 2017

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“…Bisu et al have used a frequency method to measure the dynamic response when milling at designated points [46]. Since only very few points could be measured, this method is not directly useful for robot trajectory planning in machining.…”

Section: Vibration or Chattering Analysismentioning

confidence: 99%

“…Recent research on robot machining has focused more on the influence of robotic dynamics on machining accuracy and efficiency [46,47,52,53]. Olabi et al have proposed to optimize the tool-tip feedrate in Cartesian space for a given tool path using a smooth jerk limited pattern with consideration of the joints kinematics constraints [52].…”

Section: Robot Machining Path Planningmentioning

confidence: 99%

Robot machining: recent development and future research issues

Chen

Dong

2012

Int J Adv Manuf Technol

228

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Early studies on robot machining were reported in the 1990s. Even though there are continuous worldwide researches on robot machining ever since, the potential of robot applications in machining has yet to be realized. In this paper, the authors will first look into recent development of robot machining. Such development can be roughly categorized into researches on robot machining system development, robot machining path planning, vibration/chatter analysis including path tracking and compensation, dynamic, or stiffness modeling. These researches will obviously improve the accuracy and efficiency of robot machining and provide useful references for developing robot machining systems for tasks once thought to only be capable by CNC machines. In order to advance the technology of robot machining to the next level so that more practical and competitive systems could be developed, the authors suggest that future researches on robot machining should also focus on robot machining efficiency analysis, stiffness mapbased path planning, robotic arm link optimization, planning, and scheduling for a line of machining robots.

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“…Pandremenos et al back up rigidity concerns further with experimental results highlighting accuracy and chatter issues [16]. In addition, joint stiffness is specifically discussed as an influence on part quality by Dumas et al, although data is difficult to obtain from robot manufacturers and user evaluation is recommended [17].…”

Section: Introductionmentioning

confidence: 99%

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

Barnfather

Goodfellow

Abram

2017

Int J Adv Manuf Technol

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Portable robotic machine tools potentially allow feature machining processes to be brought to large parts in various industries, creating an opportunity for capital expenditure and operating cost reduction. However, robots lack the machining capability of conventional equipment, which ultimately results in dimensional errors in parts. This work showcases a low-cost hexapod-based robotic machine tool and presents experimental research conducted to investigate how the widely researched robotic machining challenges, e.g. structural dynamics and kinematics, translate to achievable tolerance ranges in real-world production to highlight currently feasible applications and provide a context for considering technology improvements. Machining trials assess the total dimensional errors in the final part over multiple geometries. A key finding is error variation which is in the sub-millimetre range, although, in some cases, upper tolerance limits < 100 μm are achieved. Practical challenges are also noted. Most significantly, it is demonstrated that dimensional machining error is mainly systematic in nature and therefore that the total error can be dramatically reduced with in situ measurement and compensation. Potential is therefore found to achieve a flexible, highperformance robotic machining capability despite complex and diverse underlying scientific challenges. Overall, the work presented highlights achievable tolerances in lowcost robotic machining and opportunities for improvement, also providing a practical benchmark useful for process selection.

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Joint stiffness identification of six-revolute industrial serial robots

Cited by 263 publications

References 21 publications

Position planning for collaborating robots and its application in neurosurgery

Position planning for collaborating robots and its application in neurosurgery

Robot machining: recent development and future research issues

Achievable tolerances in robotic feature machining operations using a low-cost hexapod

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