Authors:
Michael Kleinkes
;
Werner Neddermeyer
and
Michael Schnell
Affiliation:
University of Applied Science in Gelsenkirchen, Germany
Keyword(s):
Industrial robots, 7th axis, linear track, offline programming, motion control, flexible automation.
Related
Ontology
Subjects/Areas/Topics:
Industrial Networks and Automation
;
Informatics in Control, Automation and Robotics
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Modern Robotics today deals with increasing requirements on the flexible automation. One of this is the usage of linear tracks or even called 7th axis to extend the robots workspace. The inaccuracies of the linear track deteriorate the accuracy, which is in constrast to highly accurate robot systems needed for modern applications. To enhance the accuracy of the system consisting of robot and linear track, an identification of the non-linearities of the linear track is necessary. This article introduces an optimisation of a method for highly accurate integration of track motions where the profile of the linear track is identified by single coordinate systems along the track, combined by a cubic spline interpolation. Resulting there is a continous description of the track profile, depending on the current position of the robot on the linear track.