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Increasing Robotic Machining Accuracy Using Offline Compensation Based on Joint-Motion Simulation

Haage, Mathias LU ; Halbauer, Marcel ; Lehmann, Christian and Städter, Philipp (2014) ISR/Robotik 2014; 41st International Symposium on Robotics
Abstract
In this paper an approach for improving robot machining accuracy through simulation-assisted path planning within Computer-Aided Manufacturing (CAM) tools is investigated. The method comprises modeling of dynamic robot behaviour under influence of process forces and a subsequent simulation of the robot motion which results in an offline prediction of deflection errors during the machining task. The error prediction performed inside the CAM-tool is utilised to already offline apply compensations to the planned tool-path for the robot. The whole computer-tool chain has been implemented and integrated within a commercial CAM-software. The focus of this paper is to describe the system architecture and do initial validation and analysis of the... (More)
In this paper an approach for improving robot machining accuracy through simulation-assisted path planning within Computer-Aided Manufacturing (CAM) tools is investigated. The method comprises modeling of dynamic robot behaviour under influence of process forces and a subsequent simulation of the robot motion which results in an offline prediction of deflection errors during the machining task. The error prediction performed inside the CAM-tool is utilised to already offline apply compensations to the planned tool-path for the robot. The whole computer-tool chain has been implemented and integrated within a commercial CAM-software. The focus of this paper is to describe the system architecture and do initial validation and analysis of the proposed method and experimental results. (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
keywords
industrial robot, machining, accurate, simulation, compensation
host publication
[Host publication title missing]
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
ISR/Robotik 2014; 41st International Symposium on Robotics
conference location
Munich, Germany
conference dates
2014-06-02 - 2014-06-03
external identifiers
  • scopus:84908428346
ISBN
978-3-8007-3601-0
language
English
LU publication?
yes
id
55f746d3-ca34-4dcb-a318-00808dda726d (old id 4616286)
alternative location
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6840151
date added to LUP
2016-04-04 10:39:48
date last changed
2020-11-16 01:32:07
@inproceedings{55f746d3-ca34-4dcb-a318-00808dda726d,
  abstract     = {In this paper an approach for improving robot machining accuracy through simulation-assisted path planning within Computer-Aided Manufacturing (CAM) tools is investigated. The method comprises modeling of dynamic robot behaviour under influence of process forces and a subsequent simulation of the robot motion which results in an offline prediction of deflection errors during the machining task. The error prediction performed inside the CAM-tool is utilised to already offline apply compensations to the planned tool-path for the robot. The whole computer-tool chain has been implemented and integrated within a commercial CAM-software. The focus of this paper is to describe the system architecture and do initial validation and analysis of the proposed method and experimental results.},
  author       = {Haage, Mathias and Halbauer, Marcel and Lehmann, Christian and Städter, Philipp},
  booktitle    = {[Host publication title missing]},
  isbn         = {978-3-8007-3601-0},
  language     = {eng},
  publisher    = {IEEE - Institute of Electrical and Electronics Engineers Inc.},
  title        = {Increasing Robotic Machining Accuracy Using Offline Compensation Based on Joint-Motion Simulation},
  url          = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6840151},
  year         = {2014},
}