Compliance error compensation in robotic-based milling

DOI10.1007/978-3-319-03500-0_13zbMATH Open1418.93172arXiv1409.6231OpenAlexW1867701952WikidataQ59255483 ScholiaQ59255483MaRDI QIDQ5223334FDOQ5223334

Authors: Alexandr Klimchik, Dmitry Bondarenko, Anatol Pashkevich, Sébastien Briot, Benoît Furet 

Publication date: 17 July 2019

Published in: Informatics in Control, Automation and Robotics (Search for Journal in Brave)

Abstract: 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.

Full work available at URL: https://arxiv.org/abs/1409.6231

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zbMATH Keywords

millingindustrial robotcompliance error compensationdynamic machining force modelnonlinear stiffness model

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• The stiffness matrix in elastically articulated rigid-body systems
• Enhanced stiffness modeling of manipulators with passive joints

Cited In (2)

• Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion
• Compensation of Geometric Errors in a PKM Machine Tool

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