産業用ロボットによる切削加工に関する研究 : 第1報,加工誤差のポストプロセス補正による加工精度の改善

概要

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End milling of a sculptured surface has been attempted by an articulated robot with six degrees of freedom. In this application, the machining error caused by positioning accuracy and rigidity of the robot should be taken into account. In order to minimize the machining error, postprocess error compensation has been realized. Motion of the robot is defined by six joint angles, and it could be controlled if six joint angles are modified according to the machining error. First the mathematical model of the robot was formed, then kinematic equations and differential relationships among them were derived. Joint angles to be modified were calculated using these equations, and motion of the robot was compensated according to the machining error after experimental end milling. The average machining error was reduced from about 100 μm to 40 μm after two error compensation postprocess. This machining accuracy was limited by the repeatability of the robot used in the experiment.
1994-03-25