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

Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany

Proceedings: ISR/Robotik 2014

Pages: 8Language: englishTyp: PDF

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Authors:
Haage, Mathias (Department of Computer Science, LTH, Lund University, Sweden)
Halbauer, Marcel; Lehmann, Christian; Staedter, J. Philipp (Center of Automation Technology, Brandenburgische University of Technology Cottbus-Senftenberg, Germany)

Abstract:
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.