Accuracy Improvement of Robot-Based Milling Using an Enhanced Manipulator Model
| Autor: | Benoit Furet, Yier Wu, Stéphane Caro, Anatol Pashkevich, Alexandr Klimchik |
|---|---|
| Přispěvatelé: | Mines Nantes (Mines Nantes), Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN), Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS), Modélisation et Optimisation de Process de Production (MO2P), Université de Nantes (UN)-Université de Nantes (UN)-PRES Université Nantes Angers Le Mans (UNAM)-Centre National de la Recherche Scientifique (CNRS)-Mines Nantes (Mines Nantes)-École Centrale de Nantes (ECN)-Ecole Polytechnique de l'Université de Nantes (EPUN), ANR-10-JCJC-1905,ECRITURES,Brouillons d'écrits sociaux : approche génétique, discursive et textométrique de l'écriture professionnelle(2010), Marco Ceccarelli, Victor A. Glazunov |
| Jazyk: | angličtina |
| Rok vydání: | 2014 |
| Předmět: |
0209 industrial biotechnology
Computer science Measure (physics) Robot-based milling Control engineering 02 engineering and technology Accuracy improvement gravity compensator Computer Science::Robotics Identification (information) 020303 mechanical engineering & transports 020901 industrial engineering & automation elastostatic calibration 0203 mechanical engineering Robot [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] Manipulator |
| Zdroj: | Advances on Theory and Practice of Robots and Manipulators Advances on Theory and Practice of Robots and Manipulators, Springer, pp.73-81, 2014, ⟨10.1007/978-3-319-07058-2_9⟩ Marco Ceccarelli; Victor A. Glazunov. Advances on Theory and Practice of Robots and Manipulators, 22, Springer, pp.73-81, 2014, Mechanisms and Machine Science, 978-3-319-07057-5. ⟨10.1007/978-3-319-07058-2_9⟩ Advances on Theory and Practice of Robots and Manipulators ISBN: 9783319070575 |
| DOI: | 10.1007/978-3-319-07058-2_9⟩ |
| Popis: | Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators; The paper is devoted to the accuracy improvement of robot-based milling by using an enhanced manipulator model that takes into account both geometric and elastostatic factors. Particular attention is paid to the model parameters identification accuracy. In contrast to other works, the proposed approach takes into account impact of the gravity compensator and link weights on the manipulator elastostatic properties. In order to improve the identification accuracy, the industry oriented performance measure is used to define optimal measurement configurations and an enhanced partial pose measurement method is applied for the identification of the model parameters. The advantages of the developed approach are confirmed by experimental results that deal with the elastostatic calibration of a heavy industrial robot used for milling. The achieved accuracy improvement factor is about 2.4. |
| Databáze: | OpenAIRE |
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