Compliance error compensation in robotic-based milling

DOI10.1007/978-3-319-03500-0_13MaRDI QIDQ5223334zbMATHOpenAlexWikidataFDO

Authors Alexandr Klimchik, Dmitry Bondarenko, Anatol Pashkevich, Sébastien Briot, Benoît Furet

Publication date 17 July 2019

Published in Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1409.6231

zbMATH Keywords

millingindustrial robotcompliance error compensationdynamic machining force modelnonlinear stiffness model

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Abstract: The paper deals with the problem of compliance errors compensation in robotic-based milling. Contrary to previous works that assume that the forces/torques generated by the manufacturing process are constant, the interaction between the milling tool and the workpiece is modeled in details. It takes into account the tool geometry, the number of teeth, the feed rate, the spindle rotation speed and the properties of the material to be processed. Due to high level of the disturbing forces/torques, the developed compensation technique is based on the non-linear stiffness model that allows us to modify the target trajectory taking into account nonlinearities and to avoid the chattering effect. Illustrative example is presented that deals with robotic-based milling of aluminum alloy.

Recommendations

• scientific article; zbMATH DE number 1304591
• A new method of error compensation for numerical control system
• An approach to error elimination for multi-axis CNC machining and robot manipulation
• Compensation of Geometric Errors in a PKM Machine Tool
• On-line trajectory resolution for two-armed systems with conflicting performance criteria

Cites work

• Enhanced stiffness modeling of manipulators with passive joints
• The stiffness matrix in elastically articulated rigid-body systems

Cited in

(3)

• Kinematic and dynamic approaches in gait optimization for humanoid robot locomotion
• Compensation of Geometric Errors in a PKM Machine Tool
• Compliance Error Compensation based on Reduced Model for Industrial Robots

This page was built for publication: Compliance error compensation in robotic-based milling

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5223334)