Improving the accuracy of industrial robot movements in the process of incremental shaping

Abstract

The paper shows the relevance of using a laser tracker as part of an automated technological complex to improve the accuracy of movements of an industrial robot manipulator in the process of incremental shaping. The requirements for the measuring system of the technological complex are formulated. A mathematical model of the magnitude of the signal recorded using a laser tracker based on the results of measuring the movements of the robot manipulator is constructed. An algorithm for correcting robot movements in the process of incremental shaping in real time is described.

Keywords

• incremental shaping
• robot manipulator
• movement accuracy
• laser tracker
• mathematical model