Case Study of Robot Machining at Different Working Space Locations

Machining, 3d printing and robot welding require a minimum difference between simulated and real position of robot (TCP) to facilitate high quality surface finish and fulfil dimension and form tolerance. The solution is the absolute robot calibration, which increases positional accuracy. In this paper, a calibrated direct-measuring robot is used to machine the sample part. In the experiment, the sample part is positioned at different location and machined by different machining processes. Then the produced part is measured on a coordinate measuring machine (CMM). The quality of the surface finish, dimensions and geometric tolerances are evaluated. This experiment showed the effect of calibration on the machining process. Based on the obtained results, further activities will be directed in the field of increasing the geometric accuracy of industrial robots.