Integrated approach to robotic machining with macro/micro-actuation
Integrated approach to robotic machining with macro/micro-actuation
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DOI：
10.1016/j.rcim.2014.04.001
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发表时间：
2014-12-01
影响因子：
10.4
通讯作者：
Johansson, Rolf
中科院分区：
文献类型：
--
作者：
Schneider, Ulrich;Olofsson, Bjorn;Johansson, Rolf
本文提出了一种新的工业机器人高精度加工集成方法。通过将传统的工业机器人与外部补偿机构相结合，可以实现对工具和工件之间的相对位置的控制的显著更高的带宽。基于模型的反馈控制器的补偿机制，以及与机器人和补偿机制的组合系统的中间范围的控制架构的开发。在广泛的加工实验的系统性能进行评估，并实现工件精度进行量化和比较，以获得相应的结果与国家的最先进的方法，机器人加工。结果表明，所提出的加工方法提供了显着更高的精度，高达8倍的改进，在钢中铣削，所需的过程中的力量，因此所展示的机器人的位置偏差，是显着的。(C)2014爱思唯尔有限公司版权所有。
A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-ranging control architecture for the combined system with the robot and the compensation mechanism are developed. The system performance is evaluated in extensive machining experiments, and the workpiece accuracies achieved are quantified and compared to the corresponding results obtained with state-of-the-art approaches to robotic machining. It is shown that the proposed approach to machining offers significantly higher accuracy, up to eight times improvement for milling in steel, where the required process forces, and thus the exhibited position deviations of the robot, are significant. (C) 2014 Elsevier Ltd. All rights reserved.