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Stiffness modeling of industrial robots for deformation compensation in machining

 
: Schneider, Ulrich; Momeni-K, Mahdi; Ansaloni, Matteo; Verl, Alexander

:
Postprint urn:nbn:de:0011-n-3133527 (1.6 MByte PDF)
MD5 Fingerprint: ce46ad1b4afb3a4420155167d53366ee
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Erstellt am: 19.11.2014


Lynch, Kevin (Chairman) ; IEEE Robotics and Automation Society; IEEE Industrial Electronics Society; Institute of Electrical and Electronics Engineers -IEEE-:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014. Conference Digest : September 14-18, 2014, Chicago, Illinois, USA
Piscataway, NJ: IEEE, 2014
ISBN: 978-1-4799-6933-3
S.4464-4469
International Conference on Intelligent Robots and Systems (IROS) <2014, Chicago/Ill.>
Englisch
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
Steifigkeit; Industrieroboter; Bearbeitungsgenauigkeit; Verformung

Abstract
In robotic machining applications, the precision of the robot is of great importance. In heavy machining process, the lower stiffness of industrial robots results in greater position errors than that of the CNC machine executing the same process. In this contribution, a new stiffness model with 36 degrees of freedom and nonlinear descriptions are presented together with a new identi cation method. Experimental results outline the potential of the model in machining application.
Acknowledgment: The authors would like to acknowledge Mr. Justus Kopp and Mr. Julian Ricardo Diaz Posada at Fraunhofer IPA for taking part in the laboratory experiments and the implementation.

: http://publica.fraunhofer.de/dokumente/N-313352.html