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Author: Jing Liu
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Industrial robots are widely used in manufacturing operations such as drilling, welding, and painting. In recent years, robots have gained significant attraction for aerospace machining (material removal) as well. Compared to conventional CNC machine tools, robots have higher versatility and a lower cost. However, robotic arms suffer from low structural stiffness, which leads to deflection errors under machining loads, as well as vibrations during high speed motions of the arm. To tackle these issues, this thesis presents a systematic framework for the prediction and pre-compensation of positioning errors to improve the accuracy of machining robots. The kinematic and compliance models of a Stäubli RX-90 industrial robot are first formulated mathematically. In the developed model, it is assumed that the links of the robot are rigid, and therefore all flexibilities originate from the joints. A cutting force model is developed to predict the machining forces exerted on the robot's end-effector (i.e. milling tool) during 3-axis milling operations. The predicted forces are combined with the compliance model of the robot to determine the structural deflections during machining. In order to reduce the residual vibrations of the robot in high speed motions, the concept of input shaping is introduced. It is shown that input shaping can distort the reference toolpath, which leads to the deviation of the actual machining path from the desired trajectory, also known as contour error. Finally, a systematic framework is proposed to predict and compensate for positioning errors in robotic machining. The developed model can determine the contour errors caused by both cutting force-induced deflections and input shaping distortions. The model then adjusts the joint commands to compensate for the predicted errors. The entire framework has been programmed in MATLAB, and simulation results prove that the proposed framework can significantly reduce contour errors in robotic machining.
Author: Jing Liu
Publisher:
ISBN:
Category :
Languages : en
Pages : 0
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Book Description
Industrial robots are widely used in manufacturing operations such as drilling, welding, and painting. In recent years, robots have gained significant attraction for aerospace machining (material removal) as well. Compared to conventional CNC machine tools, robots have higher versatility and a lower cost. However, robotic arms suffer from low structural stiffness, which leads to deflection errors under machining loads, as well as vibrations during high speed motions of the arm. To tackle these issues, this thesis presents a systematic framework for the prediction and pre-compensation of positioning errors to improve the accuracy of machining robots. The kinematic and compliance models of a Stäubli RX-90 industrial robot are first formulated mathematically. In the developed model, it is assumed that the links of the robot are rigid, and therefore all flexibilities originate from the joints. A cutting force model is developed to predict the machining forces exerted on the robot's end-effector (i.e. milling tool) during 3-axis milling operations. The predicted forces are combined with the compliance model of the robot to determine the structural deflections during machining. In order to reduce the residual vibrations of the robot in high speed motions, the concept of input shaping is introduced. It is shown that input shaping can distort the reference toolpath, which leads to the deviation of the actual machining path from the desired trajectory, also known as contour error. Finally, a systematic framework is proposed to predict and compensate for positioning errors in robotic machining. The developed model can determine the contour errors caused by both cutting force-induced deflections and input shaping distortions. The model then adjusts the joint commands to compensate for the predicted errors. The entire framework has been programmed in MATLAB, and simulation results prove that the proposed framework can significantly reduce contour errors in robotic machining.
Author: Wenhe Liao
Publisher: Springer Nature
ISBN: 9811961689
Category : Technology & Engineering
Languages : en
Pages : 247
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Book Description
This book highlights the basic theories and key technologies of error compensation for industrial robots. The chapters are arranged in the order of actual applications: establishing the robot kinematic models, conducting error analysis, conducting kinematic and non-kinematic calibrations, and planning optimal sampling points. To help readers effectively apply the technologies, the book elaborates the experiments and applications in robotic drilling and milling, which further verifies the effectiveness of the technologies. This book presents the authors’ research achievements in the past decade in improving robot accuracy. It is straightforwardly applicable for technical personnel in the aviation field, and provides valuable reference for researchers and engineers in various robotic applications.
Author: Jian-Min Zhu
Publisher:
ISBN:
Category : Engineering
Languages : en
Pages : 9
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Book Description
A measurement system was designed to meet high positioning accuracy requirements for trajectory-determined industrial robots in its partial workspace. Positioning error was calculated and its varying laws were analyzed by tracking the spatial position of the tool center point (TCP) of the industrial robot using a laser tracker and then transforming the relevant coordinate system. A neural network model of the difference between the commanded TCP position and the positioning error of the industrial robot was built. A reverse compensation model of the positioning error of the industrial robot was constructed based on the reverse compensation principle of positioning error, after which the commanded TCP position coordinates were revised accordingly. The experimental results show that the proposed method is feasible and effective, the average positioning error of the robot decreased to 0.028 from 3.232 mm, the standard deviation decreased to 0.100 from 2.987, and the positioning accuracy increased by more than two orders of magnitude. The proposed method is suitable for situations that involve determined trajectory, high positioning accuracy, and sealed robot control systems, and is easily incorporated into engineering applications.
Author: Hangi Zhuang
Publisher: CRC Press
ISBN: 1351462733
Category : Technology & Engineering
Languages : en
Pages : 376
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Book Description
Robot calibration is the process of enhancing the accuracy of a robot by modifying its control software. This book provides a comprehensive treatment of the theory and implementation of robot calibration using computer vision technology. It is the only book to cover the entire process of vision-based robot calibration, including kinematic modeling, camera calibration, pose measurement, error parameter identification, and compensation. The book starts with an overview of available techniques for robot calibration, with an emphasis on vision-based techniques. It then describes various robot-camera systems. Since cameras are used as major measuring devices, camera calibration techniques are reviewed. Camera-Aided Robot Calibration studies the properties of kinematic modeling techniques that are suitable for robot calibration. It summarizes the well-known Denavit-Hartenberg (D-H) modeling convention and indicates the drawbacks of the D-H model for robot calibration. The book develops the Complete and Parametrically Continuous (CPC) model and the modified CPC model, that overcome the D-H model singularities. The error models based on these robot kinematic modeling conventions are presented. No other book available addresses the important, practical issue of hand/eye calibration. This book summarizes current research developments and demonstrates the pros and cons of various approaches in this area. The book discusses in detail the final stage of robot calibration - accuracy compensation - using the identified kinematic error parameters. It offers accuracy compensation algorithms, including the intuitive task-point redefinition and inverse-Jacobian algorithms and more advanced algorithms based on optimal control theory, which are particularly attractive for highly redundant manipulators. Camera-Aided Robot Calibration defines performance indices that are designed for off-line, optimal selection of measurement configurations. It then describes three approaches: closed-form, gradient-based, and statistical optimization. The included case study presents experimental results that were obtained by calibrating common industrial robots. Different stages of operation are detailed, illustrating the applicability of the suggested techniques for robot calibration. Appendices provide readers with preliminary materials for easier comprehension of the subject matter. Camera-Aided Robot Calibration is a must-have reference for researchers and practicing engineers-the only one with all the information!
Author: Yauheni Veryha
Publisher: Logos Verlag Berlin
ISBN: 9783832513436
Category : Robotics
Languages : en
Pages : 0
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Book Description
Many researchers have been doing their best in the last decades to improve such important characteristics of robots as their positioning and orientation accuracy. However, constantly increasing industry demand of achieving high positioning accuracy still requires further research and improvements in this area. Have you ever tried to build the highest one-column tower out of domino blocks? If you imagine that the height of your domino tower is equivalent to the robot end-effector positioning accuracy, then the errors in robot joints can be equivalent to the inaccuracy of placing the domino blocks on the top of your tower. Hence, if the position of the following domino block in the tower can compensate previous mistakes made with other domino blocks, then one can expect that joint errors in robots can also compensate each other if one is able to find appropriate configurations for robot joints. The latter problem was targeted in this book. The general-purpose algorithms and sim ulation frameworks to find optimal configurations of various types of industrial robots are presented. The method for robotic manipulator positioning accuracy improvement using joint error maximum mutual compensation was developed to help engineers to design and implement their robotic systems with the maximum possible positioning and orientation accuracy. Our approach can be widely used on the stages of robot end-effector trajectory planning. In most practical cases, one can observe the improvement of robot end-effector positioning accuracy by ten - fifteen percent and, in extreme cases, by two times and more. Surprisingly, this can be achieved without any additional hardware or measurement equipment.
Author: M. Chen
Publisher: IOS Press
ISBN: 1643683233
Category : Technology & Engineering
Languages : en
Pages : 988
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Book Description
Keeping up to date with advances in material science and applied engineering is essential for those working in the field if they are to understand and tackle the challenges they face in an efficient manner and adopt the best and most appropriate solutions available. This book presents the proceedings of MMSE 2022, the 8th International Conference on Advances in Machinery, Materials Science and Engineering Application, held as a hybrid event (both in-person and online) in Wuhan, China, on 23 and 24 July 2022. For the past 12 years, the MMSE international conferences have collated recent advances and experiences, identified emerging trends in technology and encouraged lively debate between students, specialists, engineers and associations from around the world, all of which have had a positive impact in helping to address the world’s engineering challenges. The book contains 121 papers, selected by means of a rigorous international peer-review process by editors and reviewers from the 215 submissions received. Topics covered include the latest advancements in applied mechanics, intelligent manufacturing technology, mechanical and electromechanical engineering, heat transfer, combustion, advanced materials sciences, industrial applications, applied mathematics, simulation and interdisciplinary engineering. Presenting a wealth of exciting ideas for solving real problems in the real world and opening novel research directions, the book will be of interest to materials specialists and engineers from both academia and industry everywhere.
Author: Stuart J. Malmberg
Publisher:
ISBN:
Category :
Languages : en
Pages : 384
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Author: Ibrahim Niyazi Bodur
Publisher:
ISBN:
Category :
Languages : en
Pages : 123
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Author: Pedro Neto
Publisher: Springer
ISBN: 3642392237
Category : Computers
Languages : en
Pages : 235
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Book Description
This book constitutes the refereed proceedings of the International Workshop on Robotics in Smart Manufacturing, WRSM 2013, held in Porto, Portugal, in June 2013. The 20 revised full papers presented were carefully reviewed and selected from numerous submissions. The papers address issues such as robotic machining, off-line robot programming, robot calibration, new robotic hardware and software architectures, advanced robot teaching methods, intelligent warehouses, robot co-workers and application of robots in the textile industry.
Author: Susan M. Yarling
Publisher:
ISBN:
Category :
Languages : en
Pages : 296
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Book Description
