Industrial Robots (IRs) are increasingly adopted for material subtraction or deposition functions owing to their advantages over machine tools, like cost-effectiveness and versatility. Unfortunately, the development of efficient robot manufacturing processes still faces unsolved issues related to the IRs poor positioning accuracy and to the tool path generation process. Novel engineering methods and tools are needed for CAD based programming of accurate paths and continuous robot motions to obtain the required manufacturing quality and tolerances. Within this context, to achieve smoothness along the tool path formed by linear G-code segments, the IR controllers’ approximation strategies, summarily reported in the manufacturer’s manuals, must be considered. The aim of this paper is to present the preliminary work carried out to identify the approximation algorithms of a Kuka IR when executing linear moves. An experimental study is conducted by varying the controller settings and the maximum translational velocity. The robot behavior has been acquired thanks to the controller tracing function and then processed to yield relations readily employable for the interpretation of G-Code commands and the subsequent generation of proper robot motion instructions. The obtained formulas allow to accurately predict the robot geometric path and kinematics within the corner transition between two linear segments.

Path Approximation Strategies for Robot Manufacturing: A Preliminary Experimental Evaluation / Bigliardi, Matteo; Bilancia, Pietro; Raffaeli, Roberto; Peruzzini, Margherita; Berselli, Giovanni; Pellicciari, Marcello. - (2023), pp. 380-389. ((Intervento presentato al convegno International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing (JCM 2022) tenutosi a Ischia nel 01/06/2022-03/06/2022 [10.1007/978-3-031-15928-2_33].

Path Approximation Strategies for Robot Manufacturing: A Preliminary Experimental Evaluation

Bilancia, Pietro
;
Raffaeli, Roberto;Peruzzini, Margherita;Berselli, Giovanni;Pellicciari, Marcello
2023

Abstract

Industrial Robots (IRs) are increasingly adopted for material subtraction or deposition functions owing to their advantages over machine tools, like cost-effectiveness and versatility. Unfortunately, the development of efficient robot manufacturing processes still faces unsolved issues related to the IRs poor positioning accuracy and to the tool path generation process. Novel engineering methods and tools are needed for CAD based programming of accurate paths and continuous robot motions to obtain the required manufacturing quality and tolerances. Within this context, to achieve smoothness along the tool path formed by linear G-code segments, the IR controllers’ approximation strategies, summarily reported in the manufacturer’s manuals, must be considered. The aim of this paper is to present the preliminary work carried out to identify the approximation algorithms of a Kuka IR when executing linear moves. An experimental study is conducted by varying the controller settings and the maximum translational velocity. The robot behavior has been acquired thanks to the controller tracing function and then processed to yield relations readily employable for the interpretation of G-Code commands and the subsequent generation of proper robot motion instructions. The obtained formulas allow to accurately predict the robot geometric path and kinematics within the corner transition between two linear segments.
25-set-2022
International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing (JCM 2022)
Ischia
01/06/2022-03/06/2022
380
389
Bigliardi, Matteo; Bilancia, Pietro; Raffaeli, Roberto; Peruzzini, Margherita; Berselli, Giovanni; Pellicciari, Marcello
Path Approximation Strategies for Robot Manufacturing: A Preliminary Experimental Evaluation / Bigliardi, Matteo; Bilancia, Pietro; Raffaeli, Roberto; Peruzzini, Margherita; Berselli, Giovanni; Pellicciari, Marcello. - (2023), pp. 380-389. ((Intervento presentato al convegno International Joint Conference on Mechanics, Design Engineering and Advanced Manufacturing (JCM 2022) tenutosi a Ischia nel 01/06/2022-03/06/2022 [10.1007/978-3-031-15928-2_33].
File in questo prodotto:
File Dimensione Formato  
Paper_JCM2022_PrePrint.pdf

accesso aperto

Descrizione: Paper
Tipologia: Post-print dell'autore (bozza post referaggio)
Dimensione 493.73 kB
Formato Adobe PDF
493.73 kB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

Licenza Creative Commons
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11380/1287997
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus ND
  • ???jsp.display-item.citation.isi??? ND
social impact