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美国密苏里大学Robert G. Landers 教授学术报告

来源:发布时间:2015-06-15

报告题目: Machine Tool and Robot Volumetric Error Compensation
   
报告人: Robert G. Landers 教授 美国密苏里大学
   
报告时间: 2015年6月18日 14:30
   
报告地点: 会议楼第八会议室
   
报告人简介: Dr. Robert G. Landers is currently a Professor of Mechanical Engineering and the Associate Chair for Graduate Affairs in the Department of Mechanical and Aerospace Engineering at the Missouri University of Science and Technology. He received his B.S. degree from the University of Oklahoma in 1990, M.E. degree from Carnegie Mellon University in 1992, and Ph.D. degree from the University of Michigan in 1997, all in Mechanical Engineering. His research and teaching interests are in the areas of modeling, analysis, monitoring, and control of manufacturing processes (metal cutting, friction stir welding, laser metal deposition, and freeze extrusion fabrication), estimation and control of electrochemical alternative energy systems (hydrogen fuel cells and advanced batteries) and electro–hydraulic systems, and digital control applications.
   
报告摘要: Due to inaccuracies in component fabrication and assembly, machine tools and robotshave geometric errors, which greatly contribute to the errors in partsfabricated on these machines, as well as unduly long process certification times. To compensate for machine tool geometric errors, the standard practice is to directly measure each errorindividually using a device such as a laser interferometer or ball bar and, from these measurements, directly populate compensation tables found in the machine tool controller.The drawback to this method is that it is extremely slowand does not capture the complexity (e.g., sagging, twisting) of large machine tools. To compensate for industrial robot geometric errors, circle point analysis is used where each joint is measured independently and the Denavit-Hartenberg parameters are adjusted in the robot controller. While faster, this method still does not capture the complexity of robot kinematic errors.

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