Prediction of the Tool Displacement by Coupled Models of the Compliant Industrial Robot and the Milling Process

Abstract

Using an industrial robot for machining parts provides a cost-saving and flexible alternative to machine tools. However, reachable accuracies are often insufficient due to the lower stiffness of the robot structure. This paper presents a method to predict the displacement of the tool by coupling the elastic serial robot model with the milling process model. For this a common process model is used to estimate the process force in a high compliant serial robot structure. Based on experimental results the validity of the process model due to the high compliance is investigated.