In work package 1 of the COMET project, robot signatures were obtained to model the kinematic and dynamics (KDMIR) of industrial robots to compensate for the errors related to the robot. The key result is a methodology and system to obtain parameters according to the joint-based model, such that it can be automated and without external / expensive sensor equipment. Hardware and software were developed to be able to increase the absolute accuracy robot behaviour while milling with respect to online forces. The result is independent from robot brand / manufacturer. Key partners in the developments have been the Brandenburg University of Technology in Cottbus and Lund University. The resulting IPR has been patented and a spin-off company Cognibotics has been formed to bring the solution to the market.
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