| Description | Machine Tool and Robot Volumetric Error Compensation Abstract: This talk will discuss recent work on the volumetric error compensation of large machine tools
(i.e., machine tools with strokes of several meters and rotary axes with travels greater than 180°) and
industrial robots used for manufacturing tasks such as deburring. A laser tracker is used to measure the
machine tool or robot geometric errors over the entire visible joint space. A 6 Degree of Freedom (6DoF)
geometric error model is constructed for every joint. Each translational and rotational error for each joint is
described by a set of joint-position dependent basis functions, in this case Chebyshev polynomials. The
Implicit Loop Method, which is based on a maximum likelihood estimator, is employed to identify the
coefficients of the geometric error model. Using 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. In this talk we discuss the details of the new volumetric error compensation
methodology and provide several examples of machine tools and robots we have modeled and compensated for a variety of industrial partners. Speaker Bio: Dr. Robert G. Landers is a Curators’ Distinguished
Professor of Mechanical Engineering in the Department of Mechanical
and Aerospace Engineering at the Missouri University of Science and
Technology (formerly University of Missouri Rolla) and served as the
department’s Associate Chair for Graduate Affairs for eight years. He is
currently a program manager at the National Science Foundation. He
received his Ph.D. degree in Mechanical Engineering from the
University of Michigan in 1997. His research interests are in the areas of
modeling, analysis, monitoring, and control of manufacturing processes,
and in the estimation and control of lithium ion batteries and hydrogen
fuel cells. He has over 200 refereed technical publications and over $6M
in research funding. He received the Society of Manufacturing
Engineers’ Outstanding Young Manufacturing Engineer Award in 2004
and the ASME Journal of Manufacturing Science and Engineering’s
Best Paper Award in 2014. He is a Fellow of ASME, and a senior
member of IEEE and SME. |
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