Model of dynamic interactions
dc.contributor.author
hal.structure.identifier | KLIMCHIK, Alexandr
|
dc.contributor.author
hal.structure.identifier | PASHKEVICH, Anatol
|
dc.contributor.author
hal.structure.identifier | CARO, Stéphane
|
dc.date.accessioned | 2014 |
dc.date.available | 2014 |
dc.date.issued | 2013 |
dc.date.submitted | 2014 |
dc.identifier.uri | http://hdl.handle.net/10985/9082 |
dc.description.abstract | 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. |
dc.description.sponsorship | ANR COROUSSO |
dc.language.iso | en |
dc.publisher | ABBA Gabriel |
dc.rights | Post-print |
dc.subject | Robot modelling |
dc.subject | Dynamic interactions |
dc.subject | Robot machining |
dc.subject | Robot calibration |
dc.subject | Heavy serial robot |
dc.title | Model of dynamic interactions |
dc.title.alternative | Modèle des interactions dynamiques |
dc.typdoc | Rapport de recherche |
dc.localisation | Centre de Metz |
dc.subject.hal | Sciences de l'ingénieur: Automatique / Robotique |
hal.identifier | hal-01092182 |
hal.version | 1 |
hal.submission.permitted | updateFiles |
hal.status | accept |