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  4. High accurate robotic drilling with external sensor and compliance model-based compensation
 
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2016
Konferenzbeitrag
Titel

High accurate robotic drilling with external sensor and compliance model-based compensation

Abstract
High accurate absolute robot positioning is a requirement, and still a challenge, in many applications, such as drilling in the aerospace industry. The accuracy is affected due to many sources of errors from robot model, tool calibration, sensor and product uncertainties. While model-based error compensation cannot reach the desired accuracy, sensor-based compensation appears as the practical solution to increase the robot positioning accuracy. A structured analysis of the error sources in robotic manufacturing processes can facilitate error identification and further compensation. This paper describes an error source breaking down approach for analyzing robotic manufacturing processes. Moreover, an external sensor-based compensation is proposed for error reduction and error identification. Comparison with a compliance model-based compensation is performed. The proposed approach is applied to a robotic drilling process for aircraft manufacturing, considered a general and real industrial application. Further validation through experimentation is performed. The validation revealed a clear improvement in robot positioning accuracy and the benefits of the proposed error source structure for analysis.
Author(s)
Diaz Posada, Julian Ricardo
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Schneider, Ulrich
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Pidan, Sergej
BA Assembly & Turnkey Systems GmbH
Geravand, Milad
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Stelzer, Patrick
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Verl, Alexander
Fraunhofer-Institut für Produktionstechnik und Automatisierung IPA
Hauptwerk
IEEE International Conference on Robotics and Automation, ICRA 2016
Project(s)
SMErobotics
ROBOTT-NET
Funder
European Commission EC
European Commission EC
Konferenz
International Conference on Robotics and Automation (ICRA) 2016
DOI
10.1109/ICRA.2016.7487579
File(s)
N-399595.pdf (2.51 MB)
Language
Englisch
google-scholar
IPA
Tags
  • Industrieroboter

  • Fertigung

  • Supply Chain

  • Instandhaltung

  • maintenance Organisat...

  • calibration

  • Kalibrieren

  • Bohren (Spanen)

  • compliance

  • tolerance compensatio...

  • Kompensation

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