Online compliance error compensation system for industrial manipulators in contact applications

Gonzalez, Monica Katherine; Theissen, Nikolas Alexander; Barrios, Asier; Archenti, Andreas

doi:10.1016/j.rcim.2021.102305

Cited by 30 publications

(8 citation statements)

References 24 publications

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“…Performed analysis of the reference outlines shows that that robots are more likely to chatter than regular machines due to lower stiffness [15], and active force control can be used to prevent this [16]. The enhancement of overall robot stiffness due to drives, body structure design, and materials is not actively ongoing.…”

Section: Millingmentioning

confidence: 99%

Industrial Robots in Mechanical Machining: Perspectives and Limitations

Makulavičius,

Petkevičius,

Rožėnė

et al. 2023

Robotics

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Recently, the need to produce from soft materials or components in extra-large sizes has appeared, requiring special solutions that are affordable using industrial robots. Industrial robots are suitable for such tasks due to their flexibility, accuracy, and consistency in machining operations. However, robot implementation faces some limitations, such as a huge variety of materials and tools, low adaptability to environmental changes, flexibility issues, a complicated tool path preparation process, and challenges in quality control. Industrial robotics applications include cutting, milling, drilling, and grinding procedures on various materials, including metal, plastics, and wood. Advanced robotics technologies involve the latest advances in robotics, including integrating sophisticated control systems, sensors, data fusion techniques, and machine learning algorithms. These innovations enable robots to adapt better and interact with their environment, ultimately increasing their accuracy. The main focus of this study is to cover the most common industrial robotic machining processes and to identify how specific advanced technologies can improve their performance. In most of the studied literature, the primary research objective across all operations is to enhance the stiffness of the robotic arm’s structure. Some publications propose approaches for planning the robot’s posture or tool orientation. In contrast, others focus on optimizing machining parameters through the utilization of advanced control and computation, including machine learning methods with the integration of collected sensor data.

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Section: Millingmentioning

confidence: 99%

Industrial Robots in Mechanical Machining: Perspectives and Limitations

Makulavičius,

Petkevičius,

Rožėnė

et al. 2023

Robotics

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show abstract

“…With the rapid development of modern manufacturing, industrial robots are widely used in areas such as material handling, milling and welding. However, errors generated during the manufacturing and assembly processes of industrial robots can affect their kinematic parameters and result in reduced positioning accuracy (Gonzalez et al , 2022; Gubankov and Yukhimets, 2022; Yin et al , 2023). Generally, identification of the actual kinematic parameters of the robot and compensation for parameter errors are performed to improve positioning accuracy.…”

Section: Introductionmentioning

confidence: 99%

Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker

Wang,

Wu,

Kang

et al. 2023

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Purpose In traditional calibration methods of kinematics parameters of industrial robots, dozens of model parameters are identified together based on an optimization procedure. Due to different contributions of model parameter errors to the tool center point positioning error of industrial robots, obtaining good results for all model parameters is very difficult. Therefore, the purpose of this paper is to propose a sequential calibration method specifically for transmission ratio parameters, which includes reduction ratios and coupling ratios of industrial robot joints. Design/methodology/approach The ABB IRB 1410 industrial robot is considered as an example in this study. The transmission ratios for each joint of the robot are identified using the spatial circle fitting method based on spatial vectors, which fit the center and radius of joint rotation with the least squares optimization algorithm. In addition, a method based on the Rodrigues’ formula is designed and presented for identifying the actual coupling ratio of the robot. Subsequently, an experiment is carried out to verify the proposed sequential calibration method of transmission ratios. Findings In this experiment, the actual positions of the linkages before and after joint rotations are measured by a laser tracker. Accurate results of the reduction ratios and the coupling ratios are calculated, and the results are verified experimentally. The results show that by calibrating the reduction ratios and coupling ratios of the ABB robot, the rotation angle errors of the robot joints can be reduced. Originality/value The authors propose a sequential calibration method for transmission ratio parameters, including reduction ratios and coupling ratios of industrial robot joints. An experiment is carried out to verify this proposed sequential calibration method. This study may be beneficial for calibrating the kinematic parameters of industrial robots and improving their positioning accuracy.

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“…Several authors have studied joint and link stiffness, and many approaches have been proposed. Some of them rely on the measurement of the end effector position, either via optical and laser systems [3,5] or via closed chain fixtures [6]. As a result, such methods are not applicable to all industrial applications due to high equipment costs or encumbrance.…”

Section: Introductionmentioning

confidence: 99%

A Modal Approach for the Identification of Joint and Link Compliance of an Industrial Manipulator

Tonan

Bottin

Doria

et al. 2022

Mechanisms and Machine Science

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A method for the identification of joint stiffness making use of modal tests carried out in specific robot configurations is presented. The experimental results show the presence of a resonance peak related to structural compliance as well. Therefore, a method for the identification of the structural compliance based on the Mozzi's axis theorem is presented. This method makes it possible to define a compliance axis that models the effect of structural compliance.

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Online compliance error compensation system for industrial manipulators in contact applications

Cited by 30 publications

References 24 publications

Industrial Robots in Mechanical Machining: Perspectives and Limitations

Industrial Robots in Mechanical Machining: Perspectives and Limitations

Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker

A Modal Approach for the Identification of Joint and Link Compliance of an Industrial Manipulator

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