Compliance error compensation in robotic-based milling
This addresses precision issues in robotic milling for manufacturing applications, but it is incremental as it builds on prior work by refining force modeling.
The paper tackled compliance errors in robotic-based milling by modeling the detailed interaction between the milling tool and workpiece, accounting for factors like tool geometry and material properties, and developed a compensation technique using a non-linear stiffness model to modify trajectories and avoid chattering, with an illustrative example on aluminum alloy.
The paper 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.