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Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences

  • Industrial robots offer a good basis for machining from a conceptual point of view. However they are rarely utilized for machining applications in industry due to their low stiffness and the bad achievable work piece quality. Available solutions using position control of the tool require costly additional hardware and measurement equipment; force controlled solutions depend on low level controller access that is not commonly available for generic cell setups. This paper proposes a three-step approach to compensate for process force induced accuracy errors: (1) selection of appropriate milling strategies and cutting parameters, (2) an offline compensation of the force induced deviations and (3) a respective online compensation method. Experimental validation of the results has been performed for the first two steps.

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Metadaten
Author: Christian Lehmann, Marcel Halbauer, Dirk Euhus, Daniel Overbeck
ISBN:978-1-4673-4735-8
Title of the source (English):Proceedings of the 17th IEEE International Conference on Emerging Technologies & Factory Automation (ETFA 2012), Krakow, Poland, 17 - 21 September 2012, vol. 2
Publisher:IEEE
Place of publication:Piscataway, NJ
Document Type:Conference Proceeding
Language:English
Year of publication:2012
Contributing Corporation:Artis GmbH
Tag:milling; process forces; robots
First Page:1075
Last Page:1078
Faculty/Chair:Fakultät 3 Maschinenbau, Elektro- und Energiesysteme / FG Automatisierungstechnik
Institution name at the time of publication:Fakultät für Maschinenbau, Elektrotechnik und Wirtschaftsingenieurwesen (eBTU) / LS Automatisierungstechnik
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