NDLI: Robotic face milling path correction and vibration reduction

Content Provider	IEEE Xplore Digital Library
Author	Kaldestad, K.B. Tyapin, I. Hovland, G.
Copyright Year	2015
Description	Author affiliation: Fac. of Eng. & Sci., Univ. of Agder, Grimstad, Norway (Kaldestad, K.B.; Tyapin, I.; Hovland, G.)
Abstract	In this paper the developed method for off-line compensation of tool deflections and vibration reduction when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method is based on the static milling process model which can predict the mean value components of the tool forces and the passive damping system mounted on the spindle to reduce vibrations. With a process model such as the one presented in this paper and estimates of the robot's joint stiffness values, the tool path can be adjusted to counteract deflections of the tool during milling operations. The presented method increases accuracy when using an industrial robot for milling in relatively hard materials.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	543
Ending Page	548
File Size	1530075
Page Count	6
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Force Milling Damping Robot kinematics Torque
Content Type	Text
Resource Type	Article

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