Abstract
Machining using industrial robots is currently limited to applications with low geometrical accuracies and soft materials due to weaknesses of the robot structure, insufficient controller performance and the lack of suitable software tools. This paper proposes a modular approach to overcome these obstacles, applied both during program generation (offline) and execution (online). Offline predictive machining errors compensation is achieved by means of an innovative programming system, based on kinematic and dynamic robot models. Realtime adaptive machining error compensation is also provided by sensing the real robot positions with an innovative tracking system and corrective feedback to both the robot and an additional high dynamic compensation mechanism on piezo-actuator basis. Due to the modularity of the approach, an individual setup can be compiled for each actual use-case. Final experimental validation of the components is currently ongoing in multiple robot cells, covering several application areas as aerospace, automotive or mould construction.
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
Tolio, T., Ceglarek, D., ElMaraghy, H.A., Fischer, A., Hu, S.J., Laperrière, L., Newman, S.T., Váncza, J.: SPECIES—Co-evolution of products, processes and production systems. CIRP Annals - Manufacturing Technology 59(2), 672–693 (2010) ISSN 0007-8506, 10.1016/j.cirp.2010.05.008
Pellicciari, M., Leali, F., Andrisano, A.O., Pini, F.: Enhancing Changeability of Automotive Hybrid Reconfigurable Systems in Digital Environments. International Journal on Interactive Design and Manufacturing 6, 251–263 (2012)
Surdilovic, C., Dragoljub, Zhao, H., Schreck, G., Krueger, J.: Advanced methods for small batch robotic machining of hard materials. In: Proc. of ROBOTIK 2012: 7th German Conference on Robotics, Munich, Germany, May 21-22, pp. 1–6 (2012)
COMET project, http://www.comet-project.eu/ (accessed December 18, 2012)
Pan, Z., Zhang, H., Zhu, Z., Wang, J.: Chatter analysis of robotic machining process. Journal of Materials Processing Technology 173(3), 301–309 (2006)
Pan, Z., Zhang, H.: Robotic machining from programming to process control: a complete solution by force control. Industrial Robot: An International Journal 35(5), 400–409 (2008)
Seiki, T.: http://www.tkkcorporation.com/nabtesco/nabtesco.htm (accessed January 17, 2013)
Lehmann, C., Halbauer, M., Euhus, D., Overbeck, D.: Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences. In: Proc. of 17th IEEE International Conference on Emerging Technologies & Factory Automation, ETFA 2012, Kraków, Poland (2012)
Lehmann, C., Olofsson, B., Nilsson, K., Halbauer, M., Haage, M., Robertsson, A., Sörnmo, O., Berger, U.: Robot Joint Modeling and Parameter Identification Using the Clamping Method. In: Proc. of IFAC Conference on Manufacturing Modelling, Management and Control, MIM 2013, Saint Petersburg, Russia (2013)
Lehmann, C., Halbauer, M., van der Zwaag, J., Schneider, U.: Offline Path Compensation to Improve Accuracy of Industrial Robots for Machining Applications. In: Proc. of 14th Automation Congress, Baden-Baden, Germany (2013)
Puzik, A.: Genauigkeitssteigerung bei der spanenden Bearbeitung mit Industrierobotern durch Fehlerkompensation mit 3D Ausgleichsaktorik, Dissertation, University of Stuttgart, Fraunhofer IPA (2011)
Kienzle, O.: Bestimmung von Kräften an Werkzeugmaschinen. VDI-Z 94, 299–305 (1952)
Bennett, D., Hollerbach, J., Henri, P.: Kinematic calibration by direct estimation of the Jacobian matrix. In: Proc. of IEEE Int. Conf. on Robotics and Automation, ICRA, Nice, France, pp. 351–357 (1992)
Nilsson, K.: Patent Application SE-1251196-0: Method and System for Determination of at Least One Property of a Manipulator (2012)
Puzik, A., Meyer, C., Verl, A.: Industrial Robots for Machining Processes in Combination with an 3D-Piezo-Compensation-Mechanism. In: 7th CIRP International Conference on Intelligent Computation in Manufacturing Engineering, CIRP ICME 2010: Innovative and Cognitive Production Technology and Systems, Capri, Italy, June 23-25 (2010)
Olofsson, B., Sornmo, O., Schneider, U., Robertsson, A., Puzik, A., Johansson, R.: Modeling and control of a piezo-actuated high-dynamic compensation mechanism for industrial robots. In: Proc. of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, San Francisco, USA, September 25-30, pp. 4704–4709 (2011)
Sornmo, O., Olofsson, B., Schneider, U., Robertsson, A., Johansson, R.: Increasing the milling accuracy for industrial robots using a piezo-actuated high-dynamic micro manipulator. In: Proc. of 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Kaohsiung, Taiwan, July 11-14, pp. 104–110 (2012)
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
Lehmann, C., Pellicciari, M., Drust, M., Gunnink, J.W. (2013). Machining with Industrial Robots: The COMET Project Approach. 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_3
Download citation
DOI: https://doi.org/10.1007/978-3-642-39223-8_3
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)