Model-based off-line compensation of path deviation for industrial robots in milling applications

@article{Reinl2011ModelbasedOC,
  title={Model-based off-line compensation of path deviation for industrial robots in milling applications},
  author={Christian Reinl and M. Friedmann and J. Bauer and M. Pischan and Eberhard Abele and Oskar von Stryk},
  journal={2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
  year={2011},
  pages={367-372}
}
The scope of applications for industrial robots is limited in cases with strong forces at the end effector and high positioning and path accuracies required. Thus, their use in machining applications as a cost-saving, flexible alternative for machining tools is restricted due to mechanical compliance. A model-based off-line concept is presented to analyze, predict, and compensate the resulting path deviation of the robot under process force in milling applications. For this purpose a rigid… CONTINUE READING

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