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Authors: Alexandr Klimchik 1 ; Dmitry Bondarenko 2 ; Anatol Pashkevich 1 ; Sebastien Briot 3 and Benôit Furet 4

Affiliations: 1 Ecole des Mines de Nantes, Institut de Recherches en Communications et Cybernétique de Nantes and UMR CNRS 6597, France ; 2 Institut de Recherches en Communications et Cybernétique de Nantes, UMR CNRS 6597 and Ecole Centrale de Nantes, France ; 3 Institut de Recherches en Communications et Cybernétique de Nantes and UMR CNRS 6597, France ; 4 Institut de Recherches en Communications et Cybernétique de Nantes, UMR CNRS 6597 and Université de Nantes, France

ISBN: 978-989-8565-22-8

Keyword(s): Industrial Robot, Milling, Compliance Error Compensation, Dynamic Machining Force Model, Non-linear Stiffness Model.

Related Ontology Subjects/Areas/Topics: Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

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 several formats:
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

@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},
}

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

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