This paper aims to present the critical issues and methodologies to improve robotic machining performance with flexile industrial robots.
A complete solution using active force control is introduced to address various issues during the robotic machining process.
Programming complex couture parts without a CAD model is made easy by using force control functions such as lead‐through and path‐learning. The problem of process control is treated with a novel methodology that consists of stiffness modeling, real‐time deformation compensation for quality and controlled material removal rate for process efficiency.
Experimental results showed that higher productivity as well as better surface quality can be achieved, indicating a promising and practical use of industrial robots for machining applications that is not available at present.
