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【06.16 讲座】Machine Tool and Robot Volumetric Error Compensat

作者:编辑:发布:2015-06-11点击量:

题目:Machine Tool and Robot Volumetric Error Compensation

主讲人:Robert G. Landers 教授

主持人:吴志刚教授 陈蓉教授

时间:2015年6月16日上午09:00

地点:先进制造大楼东楼础416会议室

 

报告人简历:

 

    罗伯特·兰德斯,博士。密苏里科技大学机械工程学院教授和机械与航空航天工程系的研究生事务的副院长。1990年在俄克拉何马大学获得学士学位,1992年在卡内基梅隆大学获得采矿工程学位,1997年在密歇根大学获得机械工程博士学位。他的研究和教学兴趣包括建模,分析,监控和生产过程控制的区域(金属切割,搅拌摩擦焊接,激光金属沉积,并冻结挤压加工),估计和控制电化学替代能源系统(氢燃料细胞和先进电池)和电动液压系统,以及数字控制的应用。他有超过150篇相关论文,其中包括59篇期刊论文和5本书的章节,已经是美国国家科学基金会,美国能源部,美国空军研究实验室,美国教育部、制造工程师学会,密苏里州研究委员会的主要研究者,以及有各公司超过300万美元的经费。他获得制造工程师学会2004年的“优秀青年制造工程师奖”和《ASME制造科学与工程》2014年的最佳论文奖,是ASME会士,ASEE的会员,和IEEE和SME的高级会员。他曾在“ASME Journal of Dynamic Systems, Measurement, and Control (2009–2012)”, “ASME Journal of Manufacturing Science and Engineering (2010–2014)”, and“ the IEEE Transactions on Control System Technology (2006–2012)”等担任副主编。

 

报告摘要:

This talk will discuss recent work on the volumetric error compensation of large machine tools (i.e., machine tools with strokes of several meters and rotary axes with travels greater than 180°) and industrial robots used for manufacturing tasks such as deburring.A laser tracker is used to measure the machine tool or robot geometric errors over the entire visible joint space. A 6 Degree of Freedom (6DoF) geometric error model is constructed for every joint. Each translational and rotational error for each joint is described by a set of joint-position dependent basis functions, in this case Chebyshev polynomials. The Implicit Loop Method, which is based on a maximum likelihood estimator, is employed to identify the coefficients of the geometric error model.Using this model, an optimization algorithm is used to populate compensation tables for machine tools, or the inverse Jacobian method is used to modify the joint commands for robots. In this talk we discuss the details of the new volumetric error compensation methodology and provide several examples of machine tools and robots we have modeled and compensated for a variety of industrial partners.

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