Compliance Error Compensation in Robotic-Based Milling
This chapter deals with the problem of compliance errors compensation in robotic-based milling. Contrary to previous works that assume that the forces/torques generated by the manufacturing process are constant, the interaction between the milling tool and the workpiece is modeled in details. It takes into account the tool geometry, the number of teeth, the feed rate, the spindle rotation speed and the properties of the material to be processed. Due to high level of the disturbing forces/torques, the developed compensation technique is based on the non-linear stiffness model that allows us to modify the target trajectory taking into account nonlinearities and to avoid the chattering effect. Illustrative example is presented that deals with robotic-based milling of aluminum alloy.
KeywordsIndustrial robot Milling Compliance error compensation Dynamic machining force model Non-linear stiffness model
The authors would like to acknowledge the financial support of the ANR, France (Project ANR-2010-SEGI-003-02-COROUSSO), FEDER ROBOTEX, France and the Region “Pays de la Loire”, France.
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