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Integrated approach to robotic machining with macro/micro-actuation

: Schneider, Ulrich; Olofsson, Björn; Sörnmo, Olof; Drust, Manuel; Robertsson, Anders; Hägele, Martin; Johansson, Rolf

Preprint urn:nbn:de:0011-n-3012999 (4.9 MByte PDF)
MD5 Fingerprint: 805f75f5cdd062ea6468607edb87522e
Created on: 18.12.2014

Robotics and Computer-Integrated Manufacturing 30 (2014), No.6, pp.636-647
ISSN: 0736-5845
European Commission EC
European Commission EC
FP7; 258769; COMET
Journal Article, Electronic Publication
Fraunhofer IPA ()
Industrieroboter; Antrieb; Bearbeiten

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.