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dc.contributor.author
 hal.structure.identifier
KLIMCHIK, Alexandr
21439 Institut de Recherche en Communications et en Cybernétique de Nantes [IRCCyN]
84538 Mines Nantes [Mines Nantes]
dc.contributor.author
 hal.structure.identifier
PASHKEVICH, Anatol
21439 Institut de Recherche en Communications et en Cybernétique de Nantes [IRCCyN]
84538 Mines Nantes [Mines Nantes]
dc.contributor.author
 hal.structure.identifier
CARO, Stéphane
21439 Institut de Recherche en Communications et en Cybernétique de Nantes [IRCCyN]
dc.date.accessioned2014
dc.date.available2014
dc.date.issued2013
dc.date.submitted2014
dc.identifier.urihttp://hdl.handle.net/10985/9082
dc.description.abstractIn 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.
dc.description.sponsorshipANR COROUSSO
dc.language.isoen
dc.publisherABBA Gabriel
dc.rightsPost-print
dc.subjectRobot modelling
dc.subjectDynamic interactions
dc.subjectRobot machining
dc.subjectRobot calibration
dc.subjectHeavy serial robot
dc.titleModel of dynamic interactions
dc.title.alternativeModèle des interactions dynamiques
dc.typdocRapport de recherche
dc.localisationCentre de Metz
dc.subject.halSciences de l'ingénieur: Automatique / Robotique
hal.identifierhal-01092182
hal.version1
hal.submission.permittedupdateFiles
hal.statusaccept


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