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Increasing Robotic Machining Accuracy Using Offline Compensation Based on Joint-Motion Simulation

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Author

  • Mathias Haage
  • Marcel Halbauer
  • Christian Lehmann
  • Philipp Städter

Summary, in English

In this paper an approach for improving robot machining accuracy through simulation-assisted path planning within Computer-Aided Manufacturing (CAM) tools is investigated. The method comprises modeling of dynamic robot behaviour under influence of process forces and a subsequent simulation of the robot motion which results in an offline prediction of deflection errors during the machining task. The error prediction performed inside the CAM-tool is utilised to already offline apply compensations to the planned tool-path for the robot. The whole computer-tool chain has been implemented and integrated within a commercial CAM-software. The focus of this paper is to describe the system architecture and do initial validation and analysis of the proposed method and experimental results.

Publishing year

2014

Language

English

Publication/Series

[Host publication title missing]

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Computer Science

Keywords

  • industrial robot
  • machining
  • accurate
  • simulation
  • compensation

Conference name

ISR/Robotik 2014; 41st International Symposium on Robotics

Conference date

2014-06-02 - 2014-06-03

Conference place

Munich, Germany

Status

Published

ISBN/ISSN/Other

  • ISBN: 978-3-8007-3601-0