Êtes-vous un étudiant de l'EPFL à la recherche d'un projet de semestre?
Travaillez avec nous sur des projets en science des données et en visualisation, et déployez votre projet sous forme d'application sur GraphSearch.
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.