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

Olof Sörnmo; Björn Olofsson; Ulrich Schneider; Anders Robertsson; Rolf Johansson

doi:10.1109/AIM.2012.6265942

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

Olof Sörnmo, Björn Olofsson, Ulrich Schneider, Anders Robertsson, Rolf Johansson

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

351 Downloads (Pure)

Abstract

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.

Original language	English
Title of host publication	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	104-110
ISBN (Print)	978-1-4673-2575-2
DOIs	https://doi.org/10.1109/AIM.2012.6265942
Publication status	Published - 2012
Event	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics - Kaohsiung, Taiwan Duration: 2012 Jul 11 → …

Conference

Conference	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Country/Territory	Taiwan
City	Kaohsiung
Period	2012/07/11 → …

Bibliographical note

project=comet,robot

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/AIM.2012.6265942

AIM12_0111_FI

1 Active
2 Finished

RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
COMET
Robertsson, A. (Researcher), Olofsson, B. (Researcher), Sörnmo, O. (Researcher), Johansson, R. (PI) & Nilsson, K. (PI)
2010/09/01 → 2013/02/28
Project: Research
ProFlexa
Stolt, A. (Researcher), Robertsson, A. (Researcher), Olofsson, B. (Researcher), Linderoth, M. (Researcher), Sörnmo, O. (Researcher) & Johansson, R. (PI)
2009/01/01 → 2011/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

Sörnmo, O., Olofsson, B., Schneider, U., Robertsson, A., & Johansson, R. (2012). Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator. In 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 104-110). IEEE - Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2012.6265942

@inproceedings{8cc4fc26159e45e4b047b7e81a7e759b,

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

abstract = "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.",

author = "Olof S{\"o}rnmo and Bj{\"o}rn Olofsson and Ulrich Schneider and Anders Robertsson and Rolf Johansson",

note = "project=comet,robot; 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics ; Conference date: 11-07-2012",

year = "2012",

doi = "10.1109/AIM.2012.6265942",

language = "English",

isbn = "978-1-4673-2575-2",

pages = "104--110",

booktitle = "2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)",

publisher = "IEEE - Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

}

Sörnmo, O, Olofsson, B, Schneider, U, Robertsson, A & Johansson, R 2012, Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator. in 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 104-110, 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Kaohsiung, Taiwan, 2012/07/11. https://doi.org/10.1109/AIM.2012.6265942

Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator. / Sörnmo, Olof; Olofsson, Björn; Schneider, Ulrich et al.
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE - Institute of Electrical and Electronics Engineers Inc., 2012. p. 104-110.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

TY - GEN

T1 - Increasing the Milling Accuracy for Industrial Robots Using a Piezo-Actuated High-Dynamic Micro Manipulator

AU - Sörnmo, Olof

AU - Olofsson, Björn

AU - Schneider, Ulrich

AU - Robertsson, Anders

AU - Johansson, Rolf

N1 - project=comet,robot

PY - 2012

Y1 - 2012

N2 - 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.

AB - 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.

U2 - 10.1109/AIM.2012.6265942

DO - 10.1109/AIM.2012.6265942

M3 - Paper in conference proceeding

SN - 978-1-4673-2575-2

SP - 104

EP - 110

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

PB - IEEE - Institute of Electrical and Electronics Engineers Inc.

T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Y2 - 11 July 2012

ER -

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

Abstract

Conference

Bibliographical note

Subject classification (UKÄ)

Access to Document

Fingerprint

Projects

RobotLab LTH

COMET

ProFlexa

Equipment

RobotLab LTH Infrastructure

Cite this