Model-based off-line compensation of path deviation for industrial robots in milling applications
Model-based off-line compensation of path deviation for industrial robots in milling applications
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DOI：
10.1109/aim.2011.6027113
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发表时间：
2011-07
期刊：
影响因子：
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通讯作者：
Christian Reinl;Martin Friedmann;J. Bauer;M. Pischan;Eberhard Abele;O. Stryk
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文献类型：
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作者：
Christian Reinl;Martin Friedmann;J. Bauer;M. Pischan;Eberhard Abele;O. Stryk
工业机器人的应用范围在末端执行器处具有强力并且需要高定位和路径精度的情况下受到限制。因此，它们在机加工应用中作为机加工工具的节省成本的灵活替代品的使用由于机械顺应性而受到限制。提出了一种基于模型的离线概念，用于分析、预测和补偿铣削应用中机器人在加工力作用下产生的路径偏差。为此目的，一个刚性的多体动力学模型的机器人扩展与额外的关节弹性和倾斜的影响是再加上材料去除模拟提供的过程中的力量。在系统地调整模型参数后，有效的基于仿真的路径修正策略显示出路径精度的显著提高。一般的框架是适用于任何树结构的机器人，并允许相对于任意模型参数的灵敏度分析。
The scope of applications for industrial robots is limited in cases with strong forces at the end effector and high positioning and path accuracies required. Thus, their use in machining applications as a cost-saving, flexible alternative for machining tools is restricted due to mechanical compliance. A model-based off-line concept is presented to analyze, predict, and compensate the resulting path deviation of the robot under process force in milling applications. For this purpose a rigid multi-body dynamics model of the robot extended with additional joint elasticities and tilting effects is coupled with a material removal simulation providing the process forces. After systematically adjusting model parameters, an efficient simulation-based path correction strategy shows significant improvements of path accuracy. The general framework is applicable to any tree structured robots and allows for sensitivity analysis with respect to arbitrary model parameters.