Improving the accuracy of industrial robot movements in the process of incremental shaping


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Abstract

The paper shows the relevance of using a laser tracker as part of an automated technological complex to improve the accuracy of movements of an industrial robot manipulator in the process of incremental shaping. The requirements for the measuring system of the technological complex are formulated. A mathematical model of the magnitude of the signal recorded using a laser tracker based on the results of measuring the movements of the robot manipulator is constructed. An algorithm for correcting robot movements in the process of incremental shaping in real time is described.

About the authors

N. A. Sazonnikova

Samara National Research University

Author for correspondence.
Email: nasazonnikova@yandex.ru

Doctor of Science (Engineering), Professor of the Department of Power Plant Automatic Systems

Russian Federation

V. N. Ilyukhin

Samara National Research University

Email: iwnik@yandex.ru

Candidate of Science (Engineering), Associate Professor of the Department of Power Plant Automatic Systems

Russian Federation

S. V. Surudin

Samara National Research University

Email: innosam63@gmail.com

Candidate of Science (Engineering), Associate Professor of the Department of Metal Forming

Russian Federation

D. A. Mezentsev

Samara National Research University

Email: curucum@mail.ru

Postgraduate Student, Department of Power Plant Automatic Systems

Russian Federation

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