[BK세미나] 7/15(수) Prof. Robert G. Landers(University of Notre Dame) "Off-Line and On-Line Volumetric Error Compensation of Machine Tools and Industrial Robots"

기계공학부 구성원들의 많은 관심과 참여 부탁드립니다.

▣ 주 제: Off-Line and On-Line Volumetric Error Compensation of Machine Tools and Industrial Robots

▣ 연 사: Prof. Robert G. Landers

▣ 소 속: University of Notre Dame

▣ 일 시: 2026. 7. 15.(수) 10:30

▣ 장 소: 제1공학관 A205호

▣ 초 청: 민병권 교수

▣ 초 록

Due to inaccuracies in component fabrication and assembly, machine tools and industrial robots have geometric errors (i.e., difference between nominal and actual kinematic motions), which greatly contribute to the errors in parts fabricated 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 error individually and, from these measurements, directly populate compensation tables found in the machine tool controller. The drawback to this method is that it is extremely slow due to long instrument set up times and does not capture the complexity of large machine tools. To compensate for industrial robot geometric errors, circle point analysis is used where the errors of each joint are measured independently. While this method is fast, it still does not capture the complexity of robot kinematic errors. In addition, machine tools and industrial robots suffer from thermal deformations and deflections between the tool and part due to processing forces.

This talk will discuss recent work on the volumetric error compensation of large machine tools and industrial robots used for manufacturing tasks. A laser tracker is used to measure the machine tool and robot geometric errors over the entire visible joint space. A 6 Degree of Freedom geometric error model is constructed for every joint. Based on 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. Several examples of machine tools and robots modeled and compensated for industrial partners will be presented, as well as recent work in on-line compensation of industrial robots.