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Integrated Approach to Robotic Machining with Macro/Micro-Actuation

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Author

Summary, in English

A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It is shown that the proposed approach to machining offers significantly higher accuracy, up to eight times improvement for milling in steel, where the required process forces, and thus the exhibited position deviations of the robot, are significant.

Publishing year

2014

Language

English

Pages

636-647

Publication/Series

Robotics and Computer-Integrated Manufacturing

Volume

30

Issue

6

Document type

Journal article

Publisher

Elsevier

Topic

  • Control Engineering

Keywords

  • Robotic machining
  • Macro/micro-actuation
  • Contact operations
  • Model-based control
  • Optical tracking

Status

Published

Project

  • RobotLab LTH
  • COMET
  • SMErobotics

Research group

  • LCCC
  • ELLIIT

ISBN/ISSN/Other

  • ISSN: 0736-5845