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Integrated approach to robotic machining with macro/micro-actuation

Schneider, Ulrich; Olofsson, Björn LU ; Sörnmo, Olof LU ; Drust, Manuel; Robertsson, Anders LU ; Hägele, Martin and Johansson, Rolf LU (2014) In Robotics and Computer-Integrated Manufacturing 30(6). p.636-647
Abstract
A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It... (More)
A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It is shown that the proposed approach to machining offers significantly higher accuracy, up to eight times improvement for milling in steel, where the required process forces, and thus the exhibited position deviations of the robot, are significant. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Robotic machining, Macro/micro-actuation, Contact operations, Model-based control, Optical tracking
in
Robotics and Computer-Integrated Manufacturing
volume
30
issue
6
pages
636 - 647
publisher
Elsevier
external identifiers
  • wos:000340219600007
  • scopus:84902650472
ISSN
0736-5845
DOI
10.1016/j.rcim.2014.04.001
project
SMErobotics
COMET
language
English
LU publication?
yes
id
643257d0-20cb-49ff-afc9-8e663e9f346f (old id 4467905)
date added to LUP
2014-06-23 09:59:57
date last changed
2017-05-28 03:53:52
@article{643257d0-20cb-49ff-afc9-8e663e9f346f,
  abstract     = {A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It is shown that the proposed approach to machining offers significantly higher accuracy, up to eight times improvement for milling in steel, where the required process forces, and thus the exhibited position deviations of the robot, are significant.},
  author       = {Schneider, Ulrich and Olofsson, Björn and Sörnmo, Olof and Drust, Manuel and Robertsson, Anders and Hägele, Martin and Johansson, Rolf},
  issn         = {0736-5845},
  keyword      = {Robotic machining,Macro/micro-actuation,Contact operations,Model-based control,Optical tracking},
  language     = {eng},
  number       = {6},
  pages        = {636--647},
  publisher    = {Elsevier},
  series       = {Robotics and Computer-Integrated Manufacturing},
  title        = {Integrated approach to robotic machining with macro/micro-actuation},
  url          = {http://dx.doi.org/10.1016/j.rcim.2014.04.001},
  volume       = {30},
  year         = {2014},
}