Contouring Errors and Feedrate Fluctuation of Serial Industrial Robot in Complex Toolpath with Different Controller

In order to compare the dynamic performance of CNC controller and robot controller for serial industrial robot. In this paper, the contouring errors and velocity of the industrial robot under different controllers are analyzed. Firstly, a method for measuring the trajectory error of the milling robot based on a laser tracker is proposed. Then, a series of experiments of the KUKA KR160 robot with KRL kernel and CNC kernel are implemented to analyze the dynamic performance of complex trajectory, considering different feedrate, smoothing methods, and parameter setting. Experimental results show that the KRL kernel with appropriate parameters can achieve the same trajectory accuracy and feedrate response as CNC kernel.