February 2013

COMET host Robotics' Seminar

December 2012

Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences

Präzisionsfräsen mit Industrierobotern

Results of Gizelis’ new Motoman cell

September 2012

High-Accuracy Milling with Industrial Robots using a Piezo-Actuated High-Dynamic Compensation Mechanism

Increasing the Accuracy for a Piezo-Actuated Micro Manipulator for Industrial Robots using Model-Based Nonlinear Control

Increasing Time-Efficiency and Accuracy of Robotic Machining Processes Using Model-Based Adaptive Force Control

June 2012

An Empirical Investigation of the Structural Behaviour of Robots

May 2012

Programming System for Efficient Use of Industrial Robots for Deburring in SME Environments

TEKS – Reaching beyond the COMET

Factories of the future [deel 1]: COMET optimaliseert robotbeweging

TEKS – Reaching beyond the COMET

March 2012

Plug-and-produce components and methods for adaptive control of industrial robots enabling cost effective, high precision manufacturing in factories of the future

November 2011

Machining with Robots - A Critical Review

October 2011

Robots change the industrial future replacing the CNC machines

Factories of the future: Beyond the limits of Industrial Robotics

Dual purpose setup of the TEKS robot cell

Solving the challenges of robot machining

COMET Technologies in the Aerospace Industry

Modeling and Control of a Piezo-Actuated High-Dynamic
Compensation Mechanism for Industrial Robots

September 2011

A Multilevel Reconfiguration Concept to Enable Versatile Production In Distributed Manufacturing

Nisaform - overcoming challenges of HDCM and machined parts

August 2011

Reconfigurable Strategies for Manufacturing Setups to Confront Mass Customization Challenges

March 2011

Paper “On the integration of skilled robot motions for productivity in manufacturing”

First metal cut at TEKS monitored with 500 kHz



The COMET consortium will create a revolutionary solution enabling the use of industrial robots for high-end machining, which in combination with an innovative Plug-and-Produce platform will fulfill the needs from the manufacturing industry for cost effective, flexible and reliable manufacturing solutions.


A methodology for describing Kinematic and Dynamic Models of Industrial Robots (KDMIR) to define accurately the static and dynamic behaviour of any industrial robot, which is then represented by its unique signature.

An integrated Programming and Simulation environment for Adaptive Robot Path Generation for machining with Industrial Robots (PSIR) based upon the unique signatures.

An Adaptive Tracking system for Industrial Robots (ATIR) to detect deviations from the programmed Robot Path to initiate real-time corrections via the robot controller to ensure the necessary machining accuracy.

A High Dynamics Compensation Mechanism (HDCM) to accomplish an absolute accuracy of more than 50um; significantly ‘beyond’ the structural capability of the robot system on its own.



> End of project: 30th June 2013

The Consortium


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