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  • Periodic Report Summary 2 - COMET (Plug-and-produce COmponents and METhods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future)

Periodic Report Summary 2 - COMET (Plug-and-produce COmponents and METhods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future)

Project Context and Objectives:

The high-end manufacturing industry requests production systems that can quickly switch between diverse machining operations with short changeover, programming and set-up times without compromising quality, reliability or life-cycle costs. The COMET consortium aims to provide a revolutionary Plug-and-Produce solution enabling the use of industrial robots for high end machining processes, appreciating the needs from the manufacturing industry for cost effective, flexible and reliable manufacturing solutions. This will be achieved by:
• Improving absolute positioning accuracy of industrial robots
• Enabling industrial robots to react in real time to changing process conditions
• Improving reliable programming and simulation tools to ensure first time right machining once production commences

For achieving this, the COMET Project defined these objectives:

(O1) Develop and test a generic methodology to “extract” from every possible Industrial Robot configuration (for machining purposes) their kinematic and dynamic models.
(O2) Develop and test a software suite enabling the output of 100% correct Industrial Robot Path Program.
(O3) Develop and test a combination of hard- and software for the Adaptive Tracking of the Industrial Robot.
(O4) Develop and test a High Dynamic Compensation Mechanism (HDCM) to compensate “remaining” position errors and enabling high precision production processes.
(O5.1) Prove the viability of the new technologies developed in the industrial environments showing their technical and economic advantages both to the end-users and the commercialization partners.
(O5.2) Definition of “after project life time” activities to develop the COMET outcomes within the following 12 months towards fully commercial products.
(O6.1) Disseminate project results.
(O6.2) Management and protection of knowledge.
(O6.3) Development of training program to prepare for take up and use at non-consortium members.

Project Results:
1. Three models representing the deviations that occur while using robots for machining have be defined and prototyped. These are:
- Kinematic model
- Joint Based model
- Simplified Backlash model (being the safety net in case the Joint Based Model can't be implemented properly
2. The frame work and basic functionalisties of the PSIR have been developed and tested while also the infrastructure to include the three mentioned models has been established
3. After several negative outcomes, an ATIR system has been developed in line with the technical objectives.
4. The prototype of the HDCM has been manufactured and partly tested and is ready for further testing once the ATIR and CPA are functional
5. Demonstrators are set up to test in industrial evenironment the models, PSIR, ATIR and HDCM.
6. Extensive dissemination activities have continued via website, YouTube, Twitter, FaceBook, multiple papers and press relases
7. Succesfull redirected the project towards meeting the project objectives. This also included a redistribution of the budget allong the partnership in line with the set direction

Potential Impact:
Four different configuration with each of them having their specific field of application are made available as an outcome of this COMET project. All in line with the intention as written in our DoW. Within WP5 Demonstrators this is show-cased while in WP6 extensive training days in 3 different locations in Europe all interested parties outside the consortium will be able to learn what is possible.

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