Compensation of thermal effects and cutting-forces acting on ultra high-precision robots
While dealing with sub-micrometric precision robots, all the events that can deform the robot structure or change its physics proprieties cause a loss of accuracy. In this paper we will focus on two significant issues: the first is the thermal changes acting on the robot and its environment, the second is the deformations caused by the cutting-forces generated during the robot usage. We describe a strategy to measure the deformations caused by those two effects and we propose a calibration procedure to compensate them in real-time.
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Keywords: Robotics ; EDM process ; high-precision measurements ; thermal effects ; unsteady environment ; compensation ; cutting-forces ; identification ; delta kinematic ; parallel robot ; calibration
Record created on 2010-07-15, modified on 2016-08-08