Publication detail

Assessment of industrial robots accuracy in relation to accuracy improvement in machining processes

KUBELA, T. POCHYLÝ, A. SINGULE, V.

Original Title

Assessment of industrial robots accuracy in relation to accuracy improvement in machining processes

Type

conference paper

Language

English

Original Abstract

Using standard 6 DOF industrial robots for machining applications represents a significant market potential. Industrial robots have become a tool for various machining processes due to its universality - an ability to perform any type of movement in space - and low price compared to CNC milling machines. However, there are still limitations concerned with a much lower absolute accuracy, in comparison with CNC machines, caused mainly by a low static stiffness of the whole serial kinematic chain of a 6 DOF robot. Using the robots for machining is rather limited to applications with lower geometrical accuracy. To expand a possible scope of applications into milling operations, a new methodology is proposed to address the problem of lower absolute accuracy and concerned with KUKA robots. First, an experimental investigation of sources of main errors, having the impact on the product accuracy and surface quality, is presented. In this paper, we also focused on a comparison of internal robots states (actual robot positions) with measurements obtained from external systems such as Ballbar and Laser Tracker systems. Based on this investigation focused on KUKA robots, an online method for compensating the main source of errors - backlash errors resulting from the drive reversion - is proposed.

Keywords

robot, machining, accuracy, potition, control, robotics, industrial

Authors

KUBELA, T.; POCHYLÝ, A.; SINGULE, V.

Released

25. 9. 2016

Publisher

The Institute of Electrical and Electronics Engineers

Location

Varna, Bulgaria

ISBN

978-1-5090-1797-3

Book

2016 IEEE International Power Electronics and Motion Control

Pages from

720

Pages to

725

Pages count

6

URL

http://ieeexplore.ieee.org/document/7752083/

BibTex

@inproceedings{BUT131563,
  author="Tomáš {Kubela} and Aleš {Pochylý} and Vladislav {Singule}",
  title="Assessment of industrial robots accuracy in relation to accuracy improvement in machining processes",
  booktitle="2016 IEEE International Power Electronics and Motion Control",
  year="2016",
  pages="720--725",
  publisher="The Institute of Electrical and Electronics Engineers",
  address="Varna, Bulgaria",
  doi="10.1109/EPEPEMC.2016.7752083",
  isbn="978-1-5090-1797-3",
  url="http://ieeexplore.ieee.org/document/7752083/"
}