Robot-Based Hybrid Production Concept

Baier, Christian; Hähn, Felix; Tepper, Cornelia; Weigold, Matthias

doi:10.1007/978-3-662-60417-5_45

Cited by 3 publications

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“…milling cutter exit) which shifts the end effector by several tenths of a millimeter, a force pilot-control, introduced in Ref. [2], is used. Therefore, the motion commands stored in the robot program are combined with roughly estimated cutting forces prior to the machining process (offline).…”

Section: Pilot Controlmentioning

confidence: 99%

Hybrid compliance compensation for path accuracy enhancement in robot machining

Hähn

Weigold

2020

Prod. Eng. Res. Devel.

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Robot machining processes with high material removal rates lack of high path accuracy mainly due to the low stiffness of industrial robots. The low stiffness leads to process forces caused deviations of the tool center point (TCP) from the planned position of more than 1 mm in industrial applications. To enhance the path accuracy a novel hybrid compliance compensation is developed. It combines a force sensor and model based online compensation with forces of an offline simulation to instantly react to predictable high force changes e.g. at a milling cutter exit from the work piece. The method is applied to a KUKA KR 300 robot. A compliance model based on a forward kinematic with virtual joints is implemented on an external controller. Cartesian or axis specific compensation values are calculated and transferred to the robot via a control circuit. A compliance measurement method is developed and a force torque sensor is mounted to the flange of the robot. The system is validated in with Cartesian and axis specific compensation values as well as with and without pilot control.

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Section: Pilot Controlmentioning

confidence: 99%