Elasto-geometrical modelling of closed-loop industrial robots used for machining applications

Author

Marie, S. ; Maurine, P.

Author_Institution

LGCGM EA-3913, INSA de Rennes, Rennes

fYear

2008

fDate

19-23 May 2008

Firstpage

1294

Lastpage

1300

Abstract

This paper presents the elasto-geometrical modelling of an industrial robot manipulator whose structure includes a closed-loop mechanism. This modelling is done for sensitivity studies and calibration purposes since the robot is involved in machining operations that require a high level of quasi static positioning accuracy. The kinematics of the machine is described first then the systematic approach that is proposed to calculate the elastic modelling of its architecture is presented. Simulations and experiments are presented next in order to evaluate the limitations and benefits of the proposed modelling approach.

Keywords

closed loop systems; elasticity; industrial manipulators; machining; manipulator kinematics; closed loop mechanism; elasto-geometrical modelling; industrial robot manipulator; machine kinematics; machining applications; quasi static positioning accuracy; Composite materials; Kinematics; Machining; Manipulators; Organic materials; Robot sensing systems; Robotics and automation; Service robots; Solid modeling; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543382

Filename

4543382