Model-based off-line compensation of path deviation for industrial robots in milling applications

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn , Issue , 2011, Pages 367-372

  Reinl, C ^a   Friedmann, M ^a   Bauer, J ^a   Pischan, M ^a   Abele, E ^a   Von Stryk, O ^a  

^a DARMSTADT UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ARBITRARY MODELS; COST-SAVING; JOINT ELASTICITY; MACHINING TOOL; MATERIAL REMOVAL; MECHANICAL COMPLIANCE; MODEL PARAMETERS; MULTIBODY DYNAMICS MODEL; PROCESS FORCES; SCOPE OF APPLICATION; SIMULATION-BASED;

COMPUTER SIMULATION; ELASTICITY; END EFFECTORS; INTELLIGENT MECHATRONICS; INTELLIGENT ROBOTS; MILLING (MACHINING); SENSITIVITY ANALYSIS;

INDUSTRIAL ROBOTS;

EID: 80054002044     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/AIM.2011.6027113     Document Type: Conference Paper

References (18)

1. E. Abele, J. Bauer, M. Pischan, O. v. Stryk, M. Friedmann, and T. Hemker. Prediction of tool displacement for robot milling applications using co-simulation of an industrial robot and a removal process. In 2nd Intl. Conference Process Machine Interactions. CIRP, 2010.
2. E. Abele, J. Bauer, S. Rothenbücher, M. Stelzer, and O. von Stryk. Prediction of the tool displacement by coupled models of the compliant industrial robot and the milling process. In Intl. Conference on Process Machine Interactions, pages 223-230, Hannover, Gemany, 2008.
3. Y. Altintas. Manufacturing Automation: Metal Cutting Mechanics, Machine Tool Vibrations, and CNC Design. Cambridge University Press, 4 2000.
4. J. Bauer, M. Friedmann, T. Hemker, M. Pischan, C. Reinl, E. Abele, and O. von Stryk. Process Machine Interactions, chapter "Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation". Springer-Verlag, 2011 (to appear).
5. J. J. Craig. Introduction to Robotics: Mechanics and Control (2nd Edition). Prentice Hall, 1989.
6. R. Featherstone. Rigid Body Dynamics Algorithms. Springer-Verlag New York Inc, 2 2008.
7. G. Ferretti, G. Magnani, and P. Rocco. Impedance control for elastic joints industrial manipulators. IEEE Transactions on Robotics and Automation, 20(3):488-498, june 2004.
8. V. Filaretov and A. Zuev. Adaptive force/position control of robot manipulators. In Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on, pages 96-101, july 2008.
9. M. Friedmann. Simulation of Autonomous Robot Teams With Adaptable Levels of Abstraction. PhD thesis, TU Darmstadt, Nov. 30 2009.
10. R. Höpler. A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control. PhD thesis, TU Darmstadt, 2004.
11. KUKA Roboter GmbH. Data sheet KR 210-2. http://www.kukarobotics.com, Gersthofen - Germany, Jul 2009.
12. H. Muller, T. Surmann, M. Stautner, F. Albersmann, and K. Weinert. Online sculpting and visualization of multi-dexel volumes. In 8th ACM symposium on Solid modeling and applications, NY, USA, 2003.
13. M. Stelzer. Forward Dynamics Simulation and Optimization of Walking Robots and Humans. PhD thesis, TU Darmstadt, 2007.
14. M. W. Walker and D. E.Orin. Efficient dynamics computer simulation of robotic mechanisms. Journal of Dynamic Systems, Measurement, and Control., 104:205-211, 1982.
15. A. Walther and A. Griewank. ADOL-C: A package for the automatic differentiation of algorithms written in C/C++ (version 2.1.12), 2010.
16. M. Weigold. Kompensation der Werkzeugabdrängung bei der spanenden Bearbeitung mit Industrierobotern. PhD thesis, TU Darmstadt, 2008.
17. A. Wächter and L. T. Biegler. On the implementation of a primal-dual interior point filter line search algorithm for large-scale nonlinear programming. Mathematical Programming, 106(1):25-57, 2006. (Pubitemid 41813168)
18. H. Zhang, J. Wang, G. Zhang, Z. Gan, Z. Pan, H. Cui, and Z. Zhu. Machining with flexible manipulator: toward improving robotic machining performance. In IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics, 2005.