Drive based vibration damping on industrial robots for milling operations

在易于加工的材料和大体积工件的领域中，期望使用工业机器人作为传统机床的具有成本效益的替代方案。这主要是由于高自由度、所需空间以及工作空间与投资成本的显著更有利的比率。然而，这种趋势被有限的绝对精度以及对振动的敏感性的缺点所抵消，这对加工质量和可实现的金属去除率具有负面影响。在第一个供资期间，根据联合头寸设计并实施了两种不同的控制方法。已经表明，由过程力和机器人结构的相互作用所激发的振动可以基于驱动来阻尼。因此，可以提高机器人加工单元的精度和生产率。第二个供资期的关键问题是，在一个小型工作场所取得的改进能否扩大到整个工作场所。为此目的，将利用增益调度修改第一个供资期间开发的基于驱动的局部有效减振方法，以确保其在整个工作空间的功能。这是充分发挥工业机器人加工大体积工件潜力的唯一途径。

In the area of easily machinable materials and large-volume workpieces, there is a desire to use industrial robots as a cost-effective alternative to conventional machine tools. This is primarily a result of the high number of degrees of freedom, the required space and the significantly more favorable ratio of workspace to investment costs. However, this trend is countered by the disadvantages of limited absolute accuracy as well as the sensitivity to vibration, which has a negative effect on the machining quality and the achievable metal removal rate. During the first funding period, two different control methods based on the joint positions were designed and implemented. It has been shown that the vibrations excited by the interaction of the process forces and the robot structure can be damped drive-based. Thus, the accuracy and productivity of robot machining cells can be improved. The key issue of the second funding period is whether the improvements achieved in a small workspace can be extended to the entire workspace. For this purpose, the locally valid drive-based vibration damping method, which was developed in the first funding period, will be modified using gain-scheduling to ensure its functionality in the entire workspace. It is the only way to fully exploit the potential of industrial robots for machining large-volume workpieces.