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Experimental investigation of sources of error in robot machining

: Schneider, Ulrich; Ansaloni, Matteo; Drust, Manuel; Leali, Francesco; Verl, Alexander

Azevedo, Américo (Ed.) ; Instituto de Engenharia de Sistemas e Computadores -INESC-, Lisboa:
The Challenge of Sustaining Global Competitive Manufacturing Systems. FAIM 2013, Flexible Automation & Intelligent Manufacturing, 23rd International Conference, Book of Abstracts : 26-28 June 2013, Porto, Portugal
Porto, 2013
ISBN: 978-989-95853-4-8
International Conference on Flexible Automation and Intelligent Manufacturing (FAIM) <23, 2013, Porto>
Fraunhofer IPA ()
machining; industrial robot; Industrieroboter; Roboter; Fehleranalyse; Bearbeitungsgenauigkeit

This document is divided into two parts. First a survey is given presenting sources of error in robot machining and outlining their dependencies. Environment dependent, robot dependent and process dependent errors are addressed. The second part analyses the errors according to their source, magnitude and frequency spectrum. Experiments under different conditions represent a typical set of industrial applications and allow a qualified evaluation. This analysis enables the qualified choice of suitable compensation mechanisms in order to reduce the errors in robot machining and to increase machining accuracy.