2015
DOI: 10.4028/www.scientific.net/amm.789-790.675
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A Framework of <i>In Situ</i> Model Error Compensation for Adaptive Robotic Task Execution

Abstract: In precision robotic applications, inaccuracy in workpiece geometry has been a common problem to the precise processing of the workpiece. Due to manufacturing defects and workpiece deformation, the actual geometry of the workpiece deviates from its nominal 3D CAD model which is defined as model error. For many of the existing industrial robotic applications today, the robot path for processing the workpiece is planned based on the nominal 3D CAD model of the workpiece. Hence, the model error of the workpiece l… Show more

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