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Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator

Författare

Summary, in English

The strong process forces arising during high-speed machining operations, combined with the limited stiffness of industrial robots, have hampered the usage of industrial robots in high-end milling tasks. However, since such manipulators may offer flexible and cost-effective machining solutions, a three-dimensional piezo-actuated compensation mechanism, which aims to compensate for the positioning errors of the robot, has earlier been developed. A prototype model-based control scheme for position control of the mechanism, utilizing LQG control, has been proposed. The main contribution of this paper is an experimental verification of the benefit of utilizing the online compensation scheme. We show that the milling accuracy achieved with the proposed compensation mechanism is increased up to three times compared to the uncompensated case.

Publiceringsår

2012

Språk

Engelska

Sidor

104-110

Publikation/Tidskrift/Serie

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

Dokumenttyp

Konferensbidrag

Förlag

IEEE - Institute of Electrical and Electronics Engineers Inc.

Ämne

  • Control Engineering

Conference name

2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Conference date

2012-07-11

Conference place

Kaohsiung, Taiwan

Status

Published

Projekt

  • RobotLab LTH
  • COMET
  • ProFlexa

Forskningsgrupp

  • LCCC

ISBN/ISSN/Övrigt

  • ISBN: 978-1-4673-2575-2