Dynamic Accuracy Optimization for NC controlled Industrial Robots

In the last years the usage of industrial robotic manipulators is being extended to new applications, like laser or machining-based manufacturing. These applications require new user interface functionalities coming from common NC control systems, as well as increased demands in path tracking, dynamics, and accuracy. In this paper, a Dynamic Accuracy Optimization strategy is applied on a NC controlled industrial manipulator to minimize robot Tool Center Point errors during path execution. A state-of-the-art laser tracker system is used for online characterization of the TCP position which is fed to the compensation algorithm integrated in the NC controller. A drastic reduction of static and dynamic errors has been observed in both linear and orientation degrees of freedom, impacting also in the resulting path errors.