Control of Machine Tools and Robots

1986 ◽  
Vol 39 (9) ◽  
pp. 1331-1338 ◽  
Author(s):  
Yoram Koren
Keyword(s):  
Machine Tools ◽  
Degrees Of Freedom ◽  
Feedback Loop ◽  
Control Structure ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Control Schemes ◽  
Position Feedback ◽  
Recent Developments

The principal control structure of CNC machine tools and industrial robots is similar, since in both systems each axis of motion is separately controlled with a position feedback loop. Nevertheless, the control of robots is more complex, since they include more degrees of freedom and the motion of each joint is not independent of other joints. This paper compares the conventional control schemes of both systems, and summarizes recent developments in adaptive control of machine tools and robots.

scholarly journals Rapid Measurement and Identification Method for the Geometric Errors of CNC Machine Tools

2019 ◽  
Vol 9 (13) ◽  
pp. 2701 ◽  
Author(s):  
Li ◽  
Yang ◽  
Gao ◽  
Su ◽  
Wei ◽  
...  
Keyword(s):  
Error Compensation ◽  
Machine Tools ◽  
Degrees Of Freedom ◽  
Cnc Machine Tools ◽  
Geometric Errors ◽  
Two Dimensional ◽  
Cnc Machine ◽  
Angle Sensor ◽  
Identification Method ◽  
Measuring Machine

Error compensation technology offers a significant means for improving the geometric accuracy of CNC machine tools (MTs) as well as extending their service life. Measurement and identification are important prerequisites for error compensation. In this study, a measurement system, mainly composed of a self-developed micro-angle sensor and an L-shape standard piece, is proposed. Meanwhile, a stepwise identification method, based on an integrated error model, is established. In one measurement, four degrees-of-freedom errors, including two-dimensional displacement and two-dimensional angle of a linear guideway, can be obtained. Furthermore, in accordance with the stepwise identification method, the L-shape standard piece is placed in three different planes, so that the measurement and identification of all 21 geometric errors can be implemented. An experiment is carried out on a coordinate measuring machine (CMM) to verify the system. The residual error of the angle error, translation error and squareness error are 1.5″, 2 μm and 3.37″, respectively, and these are compared to the values detected by a Renishaw laser interferometer.

scholarly journals Simultaneous Measurement of 6DOF Motion Errors of Linear Guides of CNC Machine Tools Using Different Modes

Sensors ◽  
2020 ◽  
Vol 20 (12) ◽  
pp. 3439
Author(s):  
Peizhi Jia ◽  
Bin Zhang ◽  
Qibo Feng ◽  
Fajia Zheng
Keyword(s):  
Machine Tools ◽  
Degrees Of Freedom ◽  
Measurement Model ◽  
Cnc Machine Tools ◽  
Cnc Machine ◽  
Motion Error ◽  
Actual Measurement ◽  
Measurement Models ◽  
Measurement Head ◽  
Measurement Mode

Based on the prior work on the six degrees of freedom (6DOF) motion errors measurement system for linear axes, and for the different types of machine tools and different installation methods, this study used a ray tracing idea to establish the measurement models for two different measurement modes: (1) the measurement head is fixed and the target mirror moves and (2) the target mirror is fixed and the measurement head moves. Several experiments were performed on the same linear guide using two different measurement modes. The comparative experiments show that the two measurement modes and their corresponding measurement models are correct and effective. In the actual measurement process, it is therefore possible to select the corresponding measurement model according to the measurement mode. Furthermore, the correct motion error evaluation results can be obtained.

scholarly journals Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

2021 ◽  
Vol 11 (4) ◽  
pp. 1777
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Milan Sága ◽  
Miroslav Císar ◽  
Ivan Zajačko
Keyword(s):  
Machine Tools ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Circular Path ◽  
Robot Arm ◽  
Cnc Machine ◽  
Positional Analysis ◽  
Polar Graph ◽  
Robot Positioning

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the present article was to verify the hypothesis of the motion of all the robot joints when the desired circular path is placed on an inclined plane. In the first part of the conducted experiments is established hypothesis is confirmed, through positional analysis on a simulation model of the robot. They are then carried out practical measurements being evaluated the influence of individual robot joints to deform the circular path, shown as a polar graph. As a result, it is found that in the case of the robot used, changing the configuration of the robot arm has the greatest effect on changing the shape of the polar graph.

scholarly journals Primary deviations geometrical parameters multilink mechanical systems industrial robots and CNC machine tools.

2014 ◽  
Vol 2014 (4) ◽  
pp. 46-51
Author(s):  
Олег Крахмалев ◽  
Oleg Krakhmalev
Keyword(s):  
Machine Tools ◽  
Mechanical Systems ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Geometrical Parameters ◽  
Cnc Machine

The construction of a model of the deviations of geometrical parameters of the links mechanisms of industrial robots and CNC machine tools.

Software acceleration/deceleration methods for industrial robots and CNC machine tools

Mechatronics ◽  
1994 ◽  
Vol 4 (1) ◽  
pp. 37-53 ◽  
Author(s):  
Dong-Il Kim ◽  
Jae Wook Jeon ◽  
Sungkwun Kim
Keyword(s):  
Machine Tools ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Cnc Machine
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