<p>Milling is one of the most widely used machining process in modern manufacturing facilities. There is a possibility to use robotic arms for milling, which are relatively cheap compared to machine tools. However, machining processes can expose the slender and not especially stiff robotic arm to great forces, which can induce undesirable vibrations. The relative vibration between the workpiece and tool is originated from the so-called regenerative effect. This introduces time delay in the investigated system. In robots, the attenuation of the appearing &nbsp;regenerative vibration is essential to achieve the required surface quality and machining precision. This study’s aim is to develop a methodology for vibration mitigation during milling process with an additional controller, beside the already built-in position controller of the robot. The chosen control scheme is an acceleration feedback controller, which is simple to realize with acceleration sensors. &nbsp;Two controllers are distinguished depending on the location of the acceleration sensor. The study also takes the time delay of the fed back acceleration signal into consideration, which can induce additional instabilities in the system. The results from the two controllers are compared to each other and to the case without acceleration feedback controller. Finally, control parameter regions are proposed to improve stability.</p>

Robotic Machining Applications: Delayed Acceleration Feedback Control in Milling

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE2021)

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