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Experimental investigation of sources of error in robot machining

Experimental investigation of error sources in robot machining
: Schneider, Ulrich; Ansaloni, Matteo; Drust, Manuel; Leali, Francesco; Verl, Alexander


Neto, P.:
Robotics in Smart Manufacturing. International Workshop, WRSM 2013 : Co-located with FAIM 2013, Porto, Portugal, June 26-28, 2013. Proceedings
Berlin: Springer, 2013 (Communications in computer and information science 371)
ISBN: 978-3-642-39222-1 (Print)
ISBN: 978-3-642-39223-8 (Online)
ISBN: 3-642-39222-9
International Workshop on Robotics in Smart Manufacturing (WRSM) <1, 2013, Porto>
International Conference on Flexible Automation and Intelligent Manufacturing (FAIM) <23, 2013, Porto>
European Commission EC
FP7-NMP; 258769; COMET
Fraunhofer IPA ()
machining; industrial robot; COMET; Roboter; Industrieroboter; Bearbeitungsgenauigkeit; Fehleranalyse

This document is divided into two parts. First a survey is given presenting sources of errors 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.