Real-time stiffness compensation and force control of cooperating robots in robot-based double sided incremental sheet forming
- In robot-based incremental sheet forming, the forming robot is displaced due to the forming forces and the comparable low stiffness. As the forming forces can not be predicted precisely, the stiffness needs to be compensated based on the measurement of a force torque sensor. While previous approaches used precalculated lookup tables, this publication presents a multi body system robot model that can calculate the displacement of the tool center point in real-time. In incremental sheet forming, the supporting robot is typically force controlled to bring superimposed stress into the forming zone. Unfortunately, this could lead to oscillations in the stiffness compensation. The presented force control approach takes the stiffness compensation into account to ensure a smooth movement of the forming robot. In a series of 30 forming experiments the effectiveness of the developed stiffness compensation and force control is validated.
| Author: | Dennis MöllensiepORCiDGND, Timo GorlasGND, Philipp KulessaGND, Bernd KuhlenkötterORCiDGND |
|---|---|
| URN: | urn:nbn:de:hbz:294-97938 |
| DOI: | https://doi.org/10.1007/s11740-021-01052-4 |
| Parent Title (English): | Production engineering |
| Publisher: | Springer |
| Place of publication: | Berlin |
| Document Type: | Article |
| Language: | English |
| Date of Publication (online): | 2023/04/06 |
| Date of first Publication: | 2021/04/21 |
| Publishing Institution: | Ruhr-Universität Bochum, Universitätsbibliothek |
| Tag: | Double sided incremental sheet forming; Force control; Industrial robots; Roboforming; Stifness compensation |
| Volume: | 15 |
| First Page: | 683 |
| Last Page: | 699 |
| Note: | Dieser Beitrag ist auf Grund des DEAL-Springer-Vertrages frei zugänglich. |
| Institutes/Facilities: | Lehrstuhl für Produktionssysteme |
| Dewey Decimal Classification: | Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften, Maschinenbau |
| open_access (DINI-Set): | open_access |
| faculties: | Fakultät für Maschinenbau |
| Licence (English): |  Creative Commons - CC BY 4.0 - Attribution 4.0 International |
