This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
A Novel Means of Software Compensation for Robots and Machine Tools
Technical Paper
2006-01-3167
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Current methods of machine calibration and software compensation focus on either the joint motion errors (classic machine tool software compensation) or the geometric errors between the joints (robot calibration). However, both types of errors have a significant impact on the volumetric accuracy of a machine tool or robot. We have developed a calibration method that simultaneously identifies joint motion errors and geometric errors in a machine or robot with an arbitrary number and arrangement of links using a laser tracker. The simultaneous identification of all error sources decreases measurement time, with a typical calibration for a moderate sized machine taking about four hours and 200-500 measurements.
The model presented is based on a mathematically minimal parametric model of the machine. Parameter identification is done in a statistically significant way, resulting in both the “best-fit” values for the parameters and the statistical confidence in those values. The results provide a very accurate assessment of the volumetric accuracy of the machine. Compensation is done through a simple, rapidly converging, iterative algorithm that is being implemented real time in the Siemens 840D controller. This paper covers the development of the model, identification of the parameters, and implementation of the software compensation scheme. Examples are given of implementation including: a high-speed five-axis machine tool and a low cost five-axis drilling system. Both machines showed significant improvements to accuracy (approximately 80%) after software compensation, with volumetric accuracy approaching machine repeatability.
Recommended Content
Technical Paper | Digital Laser Vision in the Aerospace Industry |
Technical Paper | Optimization and Numerical Simulation Applied to Design of Stamping Dies |
Technical Paper | Inlet Flow Characterization of Thermal Mass Air Flow Meters |
Authors
Topic
Citation
Freeman, P., "A Novel Means of Software Compensation for Robots and Machine Tools," SAE Technical Paper 2006-01-3167, 2006, https://doi.org/10.4271/2006-01-3167.Also In
References
- ASME Methods for Performance Evaluation of Computer Numerically Controlled Machining Centers 5 54 1992
- Denavit J. Hartenberg R. S. A kinematic notation for lower pair mechnisms based on matrices Transactions of ASME-Journal of Applied Mechanics 22 2 215 221 June 1955
- Everett L. J. Driels M. Mooring B. W. Kinematic modelling for robot calibration Proceedings 1987 IEEE International Conference on Robotics and Automation 4 183 189 1987
- Hollerbach John M. A survey of kinematic calibration Khatib Oussama Craig John J. Lozáno-Pérez Tomas The Robotics Review 1 The MIT Press 1989
- Lei W. T. Hsu Y. Y. Accuracy enhancement of five-axis cnc machines through real time error compensation Int. J. of Machine Tools and Maufacture 43 871 877 2003
- Lin Chien-Chang Her Jui-Liang Calibrating the volumetric errors of a precision machine by a laser tracker system Int. J. Advanced Manufacturing Technologies 26 1255 1267 2005
- Meggiolaro M. A. Dubowsky S. An analytical method to eliminate the redundant parameters in robot calibration Proceedings of the 2000 IEEE International Conference on Robotics and Automation 3609 3615 2000
- Meggiolaro Marco A. Mavroidis Constantinos Dubowsky Steven. Identification and compensation of geometric and elastic errors in large manipulators: Application to a high accuracy medical robot Proceedings of DETC1998 1 9 1998
- Mooring Banjamin W. Roth Zvi S. Driels Morris R. Fundamentals of Manipulator Calibration John Wiley & Sons, Inc 1991
- Press William H. Teukolsky Saul A. Vetterling William T. Flannery Brian P. Numerical Recipes in C: The Art of Scientific Computing Cambridge University Press second edition 1992
- Sartori S. Zhang G. X. Geometric error measurement and compensation of machines Annals of the CIRP 44 2 599 609 1995
- Schröer Klaus Albright Stephen L. Greth-lein Michael Complete, minimal, and model-continuous kinematic models for robot calibration Robotics and Computer-Integrated Manufacturing 13 1 73 85 1997
- Slocum Alexander H. Precision Machine Design Prentice-Hall, Inc 1992
- Wampler Charles W. Hollerbach John M. Arai Tatsuo An implicit loop method for kinematic calibration and its application to closed-chain mechanisms IEEE Transactions on Robotics and Automation 11 5 710 724 October 1995