Drive based vibration damping on industrial robots for milling operations

在易加工材料和大批量工件领域，人们希望使用工业机器人作为传统机床的经济有效替代品。这主要是由于大量的自由度、所需的空间和明显更有利的工作空间与投资成本之比。然而，这种趋势被有限的绝对精度和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有负面影响。在第一个资助期内，设计并实施了两种不同的基于关节位置的控制方法。研究表明，由过程力和机器人结构相互作用激发的振动可以通过驱动来抑制。从而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工作空间取得的改进是否可以扩展到整个工作空间。为此，在第一个资助期开发的局部有效的基于驱动的减振方法将使用增益调度进行修改，以确保其在整个工作空间中的功能。只有这样，才能充分发挥工业机器人加工大批量工件的潜力。

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.