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:
https://lup.lub.lu.se/record/4467905
- author
- Schneider, Ulrich
; Olofsson, Björn
LU
; Sörnmo, Olof
LU
; Drust, Manuel
; Robertsson, Anders
LU
; Hägele, Martin
and Johansson, Rolf
LU
- organization
- publishing date
- 2014
- 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
- RobotLab LTH
- COMET
- SMErobotics
- language
- English
- LU publication?
- yes
- id
- 643257d0-20cb-49ff-afc9-8e663e9f346f (old id 4467905)
- date added to LUP
- 2016-04-01 13:09:18
- date last changed
- 2024-06-04 15:07:11
@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}},
keywords = {{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}},
doi = {{10.1016/j.rcim.2014.04.001}},
volume = {{30}},
year = {{2014}},
}