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Model-Based Elastic Deformation Compensation for a Multi-Robot Work Cell

Automated manufacturing of large scale parts often involves multiple collaborating robots and requires high positional accuracy. Depending on the layout of the work cell multiple robots may be installed on a common supporting structure such as a shared linear axis. In such layouts the accuracy of each robot is fundamentally limited due to elastic deformations of the supporting structure. For example, moving one robot may introduce position errors to a second robot even if all axes of the second robot are held fixed. Standard robot calibration procedures do not account for these interdependent effects in collaborative robotic work cells. In this article, we propose a concept to compensate for position errors introduced by the compliant behavior of the supporting structure. The concept is based on an elastic multibody simulation model of the work cell. Furthermore, we present a method to detect elastic deformations experimentally. The measurement data is used to calibrate the compliance parameters of the model. Experimental results show that real-time model-based compensation significantly reduces position errors due to elastic deformations.