Model of dynamic interactions

Alexandr Klimchik (1, 2) , Anatol Pashkevich (1, 2) , Stéphane Caro (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 Mines Nantes - Mines Nantes

In robotic-based machining, an interaction between the workpiece and technological tool causes essential deflections that significantly decrease the manufacturing accuracy. Relevant compliance errors highly depend on the manipulator configuration and essentially differ throughout the workspace. Their influence is especially important for heavy serial robots. To overcome this difficulty this report presents a new technique for compensation of the compliance errors caused by technological process. In contrast to previous works, this technique is based on the non-linear stiffness model and the reduced elasto-dynamic model of the robotic based milling process. The advantages and practical significance of the proposed approach are illustrated by milling with of KUKA KR270. It is shown that after error compensation technique significantly increase the accuracy of milling.

Mots clés: Robot modelling; Dynamic interactions; Robot machining; Robot calibration; Heavy serial robot

Domaines: Automatique / Robotique

Alexandr Klimchik, Anatol Pashkevich, Stéphane Caro. Model of dynamic interactions. [Research Report] ANR‐10‐SEGI‐003‐LI1.4, Agence Nationale de la Recherche. 2013. ⟨hal-01092182⟩