Compensation of thermal effects and cutting-forces acting on ultra high-precision robots

Autor:	Lubrano, Emanuele, Clavel, Reymond
Předmět:	EDM process compensation parallel robot high-precision measurements unsteady environment identification delta kinematic Robotics thermal effects calibration cutting-forces
Popis:	While dealing with sub-micrometric precision robots, all the events that can deform the robot structure or change its physics proprieties cause a loss of accuracy. In this paper we will focus on two significant issues: the first is the thermal changes acting on the robot and its environment, the second is the deformations caused by the cutting-forces generated during the robot usage. We describe a strategy to measure the deformations caused by those two effects and we propose a calibration procedure to compensate them in real-time.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=od_______185::2292e67ce6d0e7421b51bc2cd3e32cf0 https://infoscience.epfl.ch/record/150002 Zobrazit plný text záznamu