A Novel Means of Software Compensation for Robots and Machine Tools

Freeman, Philip

doi:10.4271/2006-01-3167

Cited by 11 publications

(8 citation statements)

References 12 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The technique used to generate this table is called software compensation and employs a parametric model to turn data collected at several workspace points into an error estimative. P A Freeman (14) presents a software compensation method based on laser tracker technology to generate the error parameters, claiming an improvement in machine accuracy up to 80%, approaching the machine repeatability values. In this case, metrology is part of the process, but it is not used in online corrections.…”

Section: Related Workmentioning

confidence: 99%

Light automation for aircraft fuselage assembly

Trabasso

Mosqueira

2019

Aeronaut. j.

View full text Add to dashboard Cite

The ever-growing need to improve manufacturing processes has led recently to an increase in the number of automation solutions used to assemble aircraft structural elements. A process of interest to this industry is the alignment of fuselage sections, which is currently done either manually or by complex, expensive automated systems. The manual method introduces a significant production delay and most automated systems have limited flexibility. This article presents an integration solution implemented in an alternative low-cost, high-flexibility alignment robotic cell. The performance of an optical coordinate measuring machine (CMM) as feedback source for the adaptive control of a conventional industrial manipulator is assessed. Laser interferometry readings are used as reference. The contribution of the work lies in the execution of experiments based on the EN ISO 9283 standard (Manipulating industrial robots - performance criteria and related test methods) to determine the adequacy of the commercial off-the-shelf system to the tolerances and requirements of the fuselage alignment process at hand. The optimal configuration of the integrated system attained the nominal alignment position with an average accuracy of 0.16mm and $0.004^\circ$ , partially meeting the required tolerances, and the obtained values are nearly 16x better compared to a baseline, open-loop manipulator. These results serve as reference for the aerospace industry in the development of the next generation of tools and automated assembly processes.

show abstract

Section: Related Workmentioning

confidence: 99%

Light automation for aircraft fuselage assembly

Trabasso

Mosqueira

2019

Aeronaut. j.

View full text Add to dashboard Cite

show abstract

“…Machine errors are commonly modeled as three small error translations and three small error rotations of each joint [20]. The zero reference model is expanded to include these types of errors and is shown to be complete, continuous, and minimal in [10].…”

Section: Imece2013-65381mentioning

confidence: 99%

“…For 3-axis machines, 6 degree of freedom errors correspond to commonly available compensation tables; however, this is not the case for 5-axis machines. Freeman [10] uses a real-time algorithm in a Siemens controller on a 5-axis machine and finds improvement over the workspace. However, in order to use a real-time algorithm, either a custom built or open architecture controller must be used, or access to the proprietary algorithms on the controller is necessary, which is not often possible.…”

Section: Imece2013-65381mentioning

confidence: 99%

“…As an alternative to some of the measurement tools described above, laser trackers can be used to measure a machine tool much more quickly. Both Freeman [10] and Nubiola and Bonev [11] report measuring hundreds of poses in a few hours on a small 5-axis machine tool and a 6-axis industrial robot, respectively. Due to the lower accuracy of the angular positioning of a laser tracker, multiple laser trackers [12,13] or multiple set up locations [14,15] are typically used.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Table-Based Compensation for 5-Axis Machine Tools

Creamer

Sammons

Bristow

et al. 2013

Volume 2A: Advanced Manufacturing

Self Cite

View full text Add to dashboard Cite

This paper presents a 5-axis machine tool compensation method that uses tool tip measurements recorded throughout the joint space to construct a set of compensation tables. The measurements can be taken using a laser tracker, permitting rapid measurement at most locations in the joint space. To compensate the machine tool, the measurements are used to identify a kinematic model, and then that model is used to construct an optimal set of compensation tables. The kinematic model is composed of the nominal, or ideal, kinematics with additional (unknown) six degree of freedom errors inserted between each of the joints. The error kinematics are identified using the measurement data and a maximum likelihood estimator. The identified model is then projected onto a joint-compensation space that maps to the compensation tables in the machine tool controller. Simulations of the approach are provided using measurement data from a Flow International 5-axis machine tool equipped with a Siemens 840D controller. The simulation results show a mean residual error of .076 mm, which is a 76.8% reduction from the uncalibrated machine tool.

show abstract

“…O sistema metrológico utilizado neste caso é baseado em interferometria a laser e supervisiona a ferramenta acoplada ao robô. Freemann (2006) propõe a compensação de erros de posicionamento por software e em tempo real para mecanismos com 5 graus de liberdade. A proposta utiliza o sistema lasertracker para identificação dos erros de posicionamento no espaço de trabalho.…”

Section: Trabalhos Relacionadosunclassified

Avaliação metrológica de um robô industrial para montagem estrutural de aeronaves

Villani

Suterio

Trabasso

et al. 2010

Sba Controle & Automação

View full text Add to dashboard Cite

Metrological analysis of an industrial robot for aircraft fuselage assembly The aircraft fuselage assembly process is too labor intensive and highly manual within the Brazilian aircraft industry. Foreign companies of this industrial segment started the adoption of automated solutions in the last two decades. Their automated solutions are very product dependent as well as very expensive. This kind of solution is inadequate for the Brazilian aircraft industry. This paper shows the preliminary results of a flexible, low cost automated system specially designed to fit the Brazilian requirements. This is based upon the usage of industrial robots for general purposes. In order to check the feasibility of such a solution, the process requirements are expressed in terms of accuracy, repeatability and resolution of the robots. These characteristics are measured by two independent, state-of-art measurement systems, namely, Indoor GPS and photogrammetry device. The initial results allow one to conclude that the robot can be used for the purpose described herein as long as it is assisted by correction process based upon the very measurement systems used to acquire its operational characteristics.

show abstract

A Novel Means of Software Compensation for Robots and Machine Tools

Cited by 11 publications

References 12 publications

Light automation for aircraft fuselage assembly

Light automation for aircraft fuselage assembly

Table-Based Compensation for 5-Axis Machine Tools

Avaliação metrológica de um robô industrial para montagem estrutural de aeronaves

Contact Info

Product

Resources

About