Publication

Modeling and compensation of cutting-forces generated during the EDM process for ultra high-precision robots

Abstract

This work deals with the calibration of industrial robots operating at sub-micrometric precision. We demonstrate that the cutting-forces generated by the robot manufacturing process cause a significant deformation of the robot geometry, lo- wering its absolute accuracy. Then, we propose a way of studying and modeling such deformations, in order to compen- sate them during the robot usage. We have taken the micro electro-discharge machining process on the robot Agietron micro-nano as a case study and we have used an ultra high-precision measuring system to evaluate the deformations due to cutting-forces. Finally, we have built a mathematical model of the robot physical behavior and we have implemented it in the robot controller, in order to compensate the deformations in real-time.

About this result
This page is automatically generated and may contain information that is not correct, complete, up-to-date, or relevant to your search query. The same applies to every other page on this website. Please make sure to verify the information with EPFL's official sources.

Graph Chatbot

Chat with Graph Search

Ask any question about EPFL courses, lectures, exercises, research, news, etc. or try the example questions below.

DISCLAIMER: The Graph Chatbot is not programmed to provide explicit or categorical answers to your questions. Rather, it transforms your questions into API requests that are distributed across the various IT services officially administered by EPFL. Its purpose is solely to collect and recommend relevant references to content that you can explore to help you answer your questions.