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Communication Dans Un Congrès Année : 2012

Compensation of Tool Deflection in Robotic-Based Milling

Résumé

The paper presents the compliance errors compensation technique for industrial robots, which are used in milling manufacturing cells. under external loading, which is based on the non-linear stiffness model. In contrast to previous works, it takes into account the interaction between the milling tool and the workpiece that depends on the end-effector position, process parameters and cutting conditions (spindle rotation, feed rate, geometry of the tool, etc.). Within the developed technique, the compensation errors caused by external loading is based on the non-linear stiffness model and reduces to a proper adjusting of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with milling with Kuka robot.
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Dates et versions

hal-00700003 , version 1 (25-06-2019)

Identifiants

  • HAL Id : hal-00700003 , version 1

Citer

Alexandr Klimchik, Dmitry Bondarenko, Anatol Pashkevich, Sébastien Briot, Benoît Furet. Compensation of Tool Deflection in Robotic-Based Milling. 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), Jul 2012, Rome, Italy. ⟨hal-00700003⟩
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