Combining holistic programming with kinematic parameter optimisation for robot machining

Industrial robot technology provides an excellent base for machining as robots are very flexible and cost effective compared to CNC machines. In this article, two methods are presented to reduce set-up time when machining with industrial robots. Combining an advanced programming and simulation environment together with a kinematic compensation approach results in a seamless interaction of all steps in order to avoid manual interference in a later stage of the process. Experimental results will validate the presented approach and outline the potential.