An error compensation controller for milling robots

This paper presents a method of controlling serial robot for milling by an inverse kinematic controller combined with outer PD loop (Inverse Dynamics + controller), calibration and compensation errors in calculating the cutting forces. Because forces are generated at time cutting, contact area between workpiece tool, generalized differential equations motion is always variable difficult to determine precisely. The depend on mode, geometric parameters layer, conditions, etc. study shows dynamic additional block compensate differences actual calculated (which caculated empirical formula). each machining determined based equation motion. efficiency (convergence accuracy) proposed evaluated comparison numerical simulation results force conventional controller. In controller, model assumed define contribute design manufacture controllers robotic milling, improve quality machined surface.