Temperature compensation

For special robot applications like the honing of bore holes or the continuous quality control guaranteed by flexible inline measuring techniques, it is important that the kinematics of the robot is kept constant for a long period of time – for months or even years.
Deviations of the Tool Center Points (TCP) of up to 0,8mm that could be caused by deviations of the ambient temperature or the self-warming of the robot are in this case, not tolerable!
Even the smallest deviations lead to the fact that the tolerances cannot be achieved any more and the result will be a high number of rejects.

The solution will be a continuous compensation of the robot temperature drift with the help of the measuring technique LaserLAB.

Ideally, the measuring procedure is carried out during the supply of components so that the production does not have to be decelerated or even be stopped. The calculation of the kinematical robot model is carried out continuously following every measuring sequence.

The drift of the robot caused by a temperature deviation is illustrated by changes of the length parameters inside the kinematical model and is automatically transferred to the robot control.
The inverse kinematics of the robot ensures that the operational points will be observed without any modification.