Abstract
This document is divided into two parts. First a survey is given presenting sources of error in robot machining and outlining their dependencies. Environment dependent, robot dependent and process dependent errors are addressed. The second part analyses the errors according to their source, magnitude and frequency spectrum. Experiments under different conditions represent a typical set of industrial applications and allow a qualified evaluation. This analysis enables the qualified choice of suitable compensation mechanisms in order to reduce the errors in robot machining and to increase machining accuracy.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
International Federation of Robotics: World Robotics 2007. Statistical Yearbook (2008)
COMET, 2011, EU/FP7-project: Plug-and-produce COmponents and METhods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future, http://www.cometproject.eu (accessed January 2013)
Puzik, A.: Genauigkeitssteigerung bei der spanenden Bearbeitung mit Industrierobotern durch Fehlerkompensation mit 3D-Ausgleichsaktorik. Dissertation, University of Stuttgart, Fraunhofer IPA (2011)
Puzik, A., Pott, A., Meyer, C., Verl, A.: Industrial robots for machining processes in combination with an additional actuation mechanism for error compensation. In: Proceedings of 7th Int. Conf. on Manufacturing Research (ICMR), Warwick (2009)
Standard ISO 9283: Manipulating industrial robots – Performance criteria and related test methods (1998)
Siciliano, B., Kathib, O.: Handbook of Robotics. Springer, New York (2008)
Shiakolas, P.S., Conrad, K.L., Yih, T.C.: On the accuracy, repeatability, and degree of influence of kinematics parameters for industrial robots. International Journal of Modelling and Simulation 22, 245–254 (2002)
Mustafa, S.K., Pey, Y.T., Yang, G., Chen, I.: A Geometrical Approach for Online Error Compensation of Industrial Manipulator. In: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Montreal, Canada, July 6-9, pp. 738–743 (2010)
Breth, J.F., Vasselin, E., Lefebvre, D., Dakyo, B.: Determination of the Repeatability of a Kuka Robot Using the Stochastic Ellipsoid Approach. In: Proceedings of IEEE International Conference on Robotics and Automation Barcelona, Spain, pp. 4339–4344 (2005)
Elatta, A.Y., Gen, L.P., Zhi, F.L., Daoyuan, Y., Fei, L.: An Overview of Robot Calibration. Information Technology Journal 3, 74–78 (2004)
Heisel, U., Richter, F., Wurst, K.-H.: Thermal behavior of industrial robots and possibilities for errors compensation. CIRP Annals - Manufacturing Technology 46, 283–286 (1997)
Pan, Z., Polden, J., Larkin, N., Van Duin, S., Norrish, J.: Recent progress on programming methods for industrial robots. Robotics and Computer-Integrated Manufacturing 28, 87–94 (2012)
Tarn, T.J., Song, M., Xi, M., Ghosh, B.J.: Multi-Sensor Fusion Scheme for Calibration-Free Stereo Vision in a Manufacturing Workcell. In: Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 416–423 (1996)
Legnani, G., Tosi, D., Fassi, I., Giberti, I., Cinquemani, S.: The ”point of isotropy” and other properties of serial and parallel manipulators. Mechanism and Machine Theory 45, 1407–1423 (2010)
Dietz, T., Schneider, U., Barho, M., Oberer-Treitz, S., Drust, M., Hollmann, R., Hägele, M.: Programming System for Efficient Use of Robots for Deburring in SME Environments. In: Proceedings of 7th German Conference on Robotics (2012)
Oh, Y.T.: Influence of the joint angular characteristics on the accuracy of industrial robots. Industrial Robot: An International Journal 38, 406–418 (2011)
Erkaya, S.: Investigation of joint clearance effects on welding robot manipulators. Robotics and Computer-Integrated Manufacturing 28, 449–457 (2012)
Gong, C., Yuan, J., Ni, J.: Nongeometric error identification and compensation for robotic system by inverse calibration. International Journal of Machine Tools and Manufacture 40, 2119–2137 (2000)
Ruderman, M., Hoffmann, F., Bertram, T.: Modeling and Identification of Elastic Robot Joints With Hysteresis and Backlash. IEEE Transactions on Industrial Electronics 56, 3840–3847 (2009)
Kumagai, S., Ohishi, K., Miyazaki, T.: High Performance Robot Motion Control Based on Zero Phase Error Notch Filter and D-PD Control. In: IEEE International Conference on Mechatronics, Malaga, Spain, pp. 1–6 (2009)
Marton, L., Lantos, B.: Friction and backlash measurement and identification method for robotic arms. In: IEEE International Conference on Advanced Robotics, pp. 1–6 (2009)
Thomsen, S., Fuchs, F.W.: Speed Control of Torsional Drive Systems with Backlash. In: Proceedings of 13th European Conference on Power Electronics and Applications, pp. 1–10 (2009)
Carvalho Bittencourt, A., Wernholt, E., Sander-Tavallaey, S., Brogardh, T.: An Extended Friction Model to capture Load and Temperature effects in Robot Joints. In: IEEE International Conference on Intelligent Robots and Systems, Taipei, pp. 6161–6167 (2010)
Jin, M., Jin, Y., Chang, P.H., Choi, C.: High-Accuracy Trajectory Tracking of Industrial Robot Manipulators Using Time Delay Estimation and Terminal Sliding Mode. In: Proceedings of 35th Annual Conference of IEEE Industrial Electronics, pp. 3095–3099 (2009)
Merlet, J.P.: Interval analysis for certified numerical solution of problems in robotics. International Journal of Applied Mathematics and Computer Science 19, 399–412 (2009)
Zhang, H., Wang, J., Zhang, G., Gan, Z., Pan, Z., Cui, H., Zhu, Z.: Machining with Flexible Manipulator: Toward Improving Robotic Machining Performance. In: Proceedings of IEEE International Conference on Advanced Intelligent Mechatronics, Monterey, California, USA, pp. 1127–1132 (2005)
Zhang, H., Pan, Z.: Robotic Machining: Material Removal Rate Control with a Flexible Manipulator. In: Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, pp. 30–35 (2008)
Pa, Z., Zengxi, P., Hui, Z., Zhub, Z., Wanga, J.: Chatter analysis of robotic machining process. Journal of materials processing technology 173, 301–309 (2006)
Quintana, G., Ciurana, J.: Chatter in machining processes: A review. International Journal of Machine Tools and Manufacture 51, 363–376 (2011)
Liu, X.-W., Cheng, K., Webb, D., Longstaf, A.P., Widiyarto, M.H.: Improved dynamic cutting force model in peripheral milling. Part II: experimental verification and prediction. International Journal of Advanced Manufacturing Technology 24, 794–805 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Schneider, U., Ansaloni, M., Drust, M., Leali, F., Verl, A. (2013). Experimental Investigation of Sources of Error in Robot Machining. In: Neto, P., Moreira, A.P. (eds) Robotics in Smart Manufacturing. WRSM 2013. Communications in Computer and Information Science, vol 371. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39223-8_2
Download citation
DOI: https://doi.org/10.1007/978-3-642-39223-8_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-39222-1
Online ISBN: 978-3-642-39223-8
eBook Packages: Computer ScienceComputer Science (R0)