Compensation of Tool Deflection in Robotic-based Milling

Alexandr Klimchik, Dmitry Bondarenko, Anatol Pashkevich, Sebastien Briot, Benôit Furet

Abstract

The paper presents the compliance errors compensation technique for industrial robots, which are used in milling manufacturing cells. under external loading, which is based on the non-linear stiffness model. In contrast to previous works, it takes into account the interaction between the milling tool and the workpiece that depends on the end-effector position, process parameters and cutting conditions (spindle rotation, feed rate, geometry of the tool, etc.). Within the developed technique, the compensation errors caused by external loading is based on the non-linear stiffness model and reduces to a proper adjusting of a target trajectory that is modified in the off-line mode. The advantages and practical significance of the proposed technique are illustrated by an example that deals with milling with Kuka robot.

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Paper Citation


in Harvard Style

Klimchik A., Bondarenko D., Pashkevich A., Briot S. and Furet B. (2012). Compensation of Tool Deflection in Robotic-based Milling . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 113-122. DOI: 10.5220/0004040801130122


in Bibtex Style

@conference{icinco12,
author={Alexandr Klimchik and Dmitry Bondarenko and Anatol Pashkevich and Sebastien Briot and Benôit Furet},
title={Compensation of Tool Deflection in Robotic-based Milling},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={113-122},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004040801130122},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Compensation of Tool Deflection in Robotic-based Milling
SN - 978-989-8565-22-8
AU - Klimchik A.
AU - Bondarenko D.
AU - Pashkevich A.
AU - Briot S.
AU - Furet B.
PY - 2012
SP - 113
EP - 122
DO - 10.5220/0004040801130122