Positioning Error Compensation Method Using Delaunay Triangulation and Its Application to a Large-sized Forming Machine

摘要

Recently digital twins are widely utilized in various manufacturing stages. Robot off-line programming, a typical example of manufacturing digital twin, have been used for over 20 years in actual factory shops, and various methods are proposed to compensate the error between digital model and real world. This paper discusses the error compensation methods for various types of mechanical errors, and proposes a new method which can compensate positional errors of any points based on a certain number of measured points using Delaunay Triangulation. We applied this method to a large-sized forming machine and show that this method can reduce the positional error to less than half.