Machining with flexible manipulator: toward improving robotic machining performance

This paper presents the critical issues and methodologies to improve robotic machining performance with flexible industrial robots. Compared with CNC machines, the stiffness of industrial robots is significantly lower, resulting in unacceptable quality and lower productivity. The problem is treated with a novel methodology that consists of stiffness modeling, real-time deformation compensation for quality and controlled material removal rate for efficiency. Experimental results show that higher productivity as well as better surface accuracy can be achieved, indicating a promising and practical use of industrial robots for machining applications that is not possible at present