Abstract
| Original language | English |
|---|---|
| Pages (from-to) | 185-199 |
| Number of pages | 15 |
| Journal | Robotics and Computer-Integrated Manufacturing |
| Volume | 54 |
| DOIs | |
| Publication status | Published - 1 Dec 2018 |
| MoE publication type | A1 Journal article-refereed |
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Keywords
- Compliance control
- HMI
- Industrial
- Machining
- Path planning
- Robot
- Small-batch
Cite this
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Hard material small-batch industrial machining robot. / Brunete, Alberto (Corresponding Author); Gambao, Ernesto (Corresponding Author); Koskinen, Jukka; Heikkilä, Tapio; Kaldestad, Knut Berg; Tyapin, Ilya; Hovland, Geir; Surdilovic, Dragoljub; Hernando, Miguel; Bottero, Aldo; Anton, Stefan.
In: Robotics and Computer-Integrated Manufacturing, Vol. 54, 01.12.2018, p. 185-199.Research output: Contribution to journal › Article › Scientific › peer-review
TY - JOUR
T1 - Hard material small-batch industrial machining robot
AU - Brunete, Alberto
AU - Gambao, Ernesto
AU - Koskinen, Jukka
AU - Heikkilä, Tapio
AU - Kaldestad, Knut Berg
AU - Tyapin, Ilya
AU - Hovland, Geir
AU - Surdilovic, Dragoljub
AU - Hernando, Miguel
AU - Bottero, Aldo
AU - Anton, Stefan
N1 - Lehden tiedot korjattu 26.9.18
PY - 2018/12/1
Y1 - 2018/12/1
N2 - Hard materials can be cost effectively machined with standard industrial robots by enhancing current state-of-the-art technologies. It is demonstrated that even hard metals with specific robotics-optimised novel hard-metal tools can be machined by standard industrial robots with an improved position-control approach and enhanced compliance-control functions. It also shows that the novel strategies to compensate for elastic robot errors, based on models and advanced control, as well as the utilisation of new affordable sensors and human-machine interfaces, can considerably improve the robot performance and applicability of robots in machining tasks. In conjunction with the development of safe robots for human-robot collaboration and cooperation, the results of this paper provide a solid background for establishing industrial robots for industrial-machining applications in both small- and medium-size enterprises and large industry. The planned short-term and long-term exploitation of the results should significantly increase the future robot usage in the machining operations.
AB - Hard materials can be cost effectively machined with standard industrial robots by enhancing current state-of-the-art technologies. It is demonstrated that even hard metals with specific robotics-optimised novel hard-metal tools can be machined by standard industrial robots with an improved position-control approach and enhanced compliance-control functions. It also shows that the novel strategies to compensate for elastic robot errors, based on models and advanced control, as well as the utilisation of new affordable sensors and human-machine interfaces, can considerably improve the robot performance and applicability of robots in machining tasks. In conjunction with the development of safe robots for human-robot collaboration and cooperation, the results of this paper provide a solid background for establishing industrial robots for industrial-machining applications in both small- and medium-size enterprises and large industry. The planned short-term and long-term exploitation of the results should significantly increase the future robot usage in the machining operations.
KW - Compliance control
KW - HMI
KW - Industrial
KW - Machining
KW - Path planning
KW - Robot
KW - Small-batch
U2 - 10.1016/j.rcim.2017.11.004
DO - 10.1016/j.rcim.2017.11.004
M3 - Article
VL - 54
SP - 185
EP - 199
JO - Robotics and Computer-Integrated Manufacturing
JF - Robotics and Computer-Integrated Manufacturing
SN - 0736-5845
ER -