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Robot Joint Modeling and Parameter Identification Using the Clamping Method

Lehmann, Christian ; Olofsson, Björn LU ; Nilsson, Klas LU ; Halbauer, Marcel ; Haage, Mathias LU ; Robertsson, Anders LU ; Sörnmo, Olof LU and Berger, Ulrich (2013) IFAC Conference on Manufacturing Modelling, Management and Control (MIM2013) p.813-818
Abstract
The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in presence of process forces. While there are techniques and products available for increasing the absolute accuracy of free-space motions, the mechanical weaknesses of the robot in combination with the milling forces limits the achievable performance. If the dynamic effects causing the deviations can be compensated for, there would be several benefits of using industrial robots for machining applications. To enable the compensation, the causes of the path deviations have to be adequately modeled, and there must be a method for determining the model parameters in a simple and inexpensive way. To that end, we propose a radically new method for... (More)
The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in presence of process forces. While there are techniques and products available for increasing the absolute accuracy of free-space motions, the mechanical weaknesses of the robot in combination with the milling forces limits the achievable performance. If the dynamic effects causing the deviations can be compensated for, there would be several benefits of using industrial robots for machining applications. To enable the compensation, the causes of the path deviations have to be adequately modeled, and there must be a method for determining the model parameters in a simple and inexpensive way. To that end, we propose a radically new method for identification of robot joint model parameters, based on clamping of the robot to a rigid environment. The rigidity of the environment then eliminates the need for expensive measurement equipment, and the internal sensors of the robot give sufficient feedback. An experimental validation shows the feasibility of the method. (Less)
Please use this url to cite or link to this publication:
author
; ; ; ; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013
pages
813 - 818
publisher
IFAC
conference name
IFAC Conference on Manufacturing Modelling, Management and Control (MIM2013)
conference location
Saint Petersburg, Russian Federation
conference dates
2013-06-19 - 2013-06-21
external identifiers
  • scopus:84884306461
ISSN
1474-6670
ISBN
978-3-902823-35-9
DOI
10.3182/20130619-3-RU-3018.00226
project
RobotLab LTH
language
English
LU publication?
yes
id
0e73264d-25a7-4de5-98d1-952c562805be (old id 3615530)
date added to LUP
2016-04-01 13:16:37
date last changed
2023-04-24 22:05:51
@inproceedings{0e73264d-25a7-4de5-98d1-952c562805be,
  abstract     = {{The usage of industrial robots for milling tasks is limited by their lack of absolute accuracy in presence of process forces. While there are techniques and products available for increasing the absolute accuracy of free-space motions, the mechanical weaknesses of the robot in combination with the milling forces limits the achievable performance. If the dynamic effects causing the deviations can be compensated for, there would be several benefits of using industrial robots for machining applications. To enable the compensation, the causes of the path deviations have to be adequately modeled, and there must be a method for determining the model parameters in a simple and inexpensive way. To that end, we propose a radically new method for identification of robot joint model parameters, based on clamping of the robot to a rigid environment. The rigidity of the environment then eliminates the need for expensive measurement equipment, and the internal sensors of the robot give sufficient feedback. An experimental validation shows the feasibility of the method.}},
  author       = {{Lehmann, Christian and Olofsson, Björn and Nilsson, Klas and Halbauer, Marcel and Haage, Mathias and Robertsson, Anders and Sörnmo, Olof and Berger, Ulrich}},
  booktitle    = {{7th IFAC Conference on Manufacturing Modelling, Management, and Control, 2013}},
  isbn         = {{978-3-902823-35-9}},
  issn         = {{1474-6670}},
  language     = {{eng}},
  pages        = {{813--818}},
  publisher    = {{IFAC}},
  title        = {{Robot Joint Modeling and Parameter Identification Using the Clamping Method}},
  url          = {{http://dx.doi.org/10.3182/20130619-3-RU-3018.00226}},
  doi          = {{10.3182/20130619-3-RU-3018.00226}},
  year         = {{2013}},
}