Compliance Error Compensation in Robotic-Based Milling

  • Alexandr Klimchik
  • Dmitry Bondarenko
  • Anatol Pashkevich
  • Sébastien Briot
  • Benoît Furet
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 283)


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.


Industrial 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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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Alexandr Klimchik
    • 1
    • 2
  • Dmitry Bondarenko
    • 1
    • 2
  • Anatol Pashkevich
    • 1
    • 2
  • Sébastien Briot
    • 2
  • Benoît Furet
    • 2
    • 3
  1. 1.Ecole des Mines de NantesNantesFrance
  2. 2.Institut de Recherches en Communications et Cybernétique de NantesNantesFrance
  3. 3.Quai de TourvilleUniversité de NantesNantesFrance

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