A Dynamic Compensation for Roll Hemming Process

A dynamic compensation to correct the trajectory deviation of roll hemming processes is presented in this paper. First, the general scheme of the compensation model is explained along with the robot (kinematic and stiffness) and the material deflection models. The model is simulated and tested on an industrial robot. As a result, the viability of the model is discussed and compared with other works by analyzing the forces and the deviation profiles in the tested samples.