High-accuracy robotic system for precise object manipulation (HARISOM)

由于需要降低成本、提高生产效率并避免人类从事困难和危险的工作，工业机器人，特别是多轴机器人系统，用于物体处理和操纵的使用已经显著增加。尽管机器人具有重要的功能，特别是在制造业中，并且它们在许多类型的过程自动化中使用，但与其他基于笛卡尔的数控（NC）自动化系统相比，它们的精度相对较差（对于1 m^3的工作体积在毫米范围内），这是由于它们的关节顺应性和与负载能力相比相对较高的结构灵活性。由于这些限制，机器人在需要非常高精度的过程中的使用受到限制。最近，协作机器人，一种特殊类型的多轴工业机器人，可以在没有安全围栏的情况下放置，由于其灵活性，重新编程的简单性以及在同一工作场所与人类安全协作的能力，已成为一种流行的选择。这些协作机器人中的关节顺应性甚至比传统工业机器人更不刚性，因为需要具有响应力感测和联盟反应能力，进一步降低了准确性能力。大多数协作机器人无法在1 m^3的工作体积内实现小于2.5 mm的绝对定位精度，这使得它们的精度比它们的分辨率（0.1 mm）高出一个数量级以上。这种低精度限制了它们的使用，特别是对于协作机器人，因此它们通常限于简单的拾取和放置任务。该项目将使具有多轴运动的工业机器人的绝对定位精度提高一个数量级，使其工作体积超过1 m^3时的绝对定位精度小于100微米。通过这种方式，我们将在许多应用领域实现精确的对象操作。

The use of industrial robots, specifically multi-axis robotic systems, for object handling and manipulation has significantly increased due to the need to reduce costs, increase production efficiency and avoid difficult and dangerous jobs for humans. Despite the important capabilities of robots, especially in manufacturing, and their use in many types of process automation, their accuracy is relatively poor (in the millimetre range for 1 m^3 working volume), compared to other Cartesian-based Numerically Controlled (NC) automation systems, due to their joint compliance and relatively high structural flexibility in comparison to load capacity. Because of these limitations, robots are restricted in their use for processes that require very high accuracy. Recently, collaborative robots, a special type of multi-axis industrial robot, that can be placed without a safety fence, have become a popular choice due to their flexibility, simplicity to re-program and ability to safely work collaboratively with humans in the same workplace. The joint compliance in these collaborative robots is even less rigid than traditional industrial robots due to the need to have responsive force sensing and coalition-reaction capabilities, further decreasing accuracy capabilities. Most collaborative robots are unable to achieve an absolute positioning accuracy within a 1 m^3 working volume of less than 2.5 mm, making their accuracy more than one order of magnitude higher than their resolution (0.1 mm). This low accuracy limits their utilisation, especially for collaborative robot, so that they are generally restricted to simple pick-and-place tasks. This project will increase by an order of magnitude the absolute positioning accuracy of industrial robots with multi-axis motion to less than 100 micrometres for working volumes exceeding 1 m^3. In this way we will enable precise object manipulation across many application areas.