Experimental determination of compliance values for a machining robot

Abstract

Since the introduction of industrial robots their area of application has continuously expanded. However, their high compliance due to the serial linked structure prevents their common use for machining tasks. Even though many research activities have been conducted to determine the robot's pose dependent static behavior, the measurements have been performed mostly in a small workspace. In this research paper extensive experimental investigations are executed to identify the compliance values of an industrial robot within a significantly larger workspace. These have been measured for both, tensile and pressure loads in all coordinate directions. This data was subsequently used to interpolate the compliance values onto other poses. The result have been mapped and analyzed relating to machining tasks.