Publication Details

This conference paper was originally published as Pan, Z and Zhang, H, Robotic machining from programming to process control, Proceedings of the 7th World Congress on Intelligent Control and Automation, Chongqing, China, 25-27 June 2008. Copyright Institute of Electrical and Electronics Engineers 2008. Original conference paper available here


This paper presents the critical issues and methodologies to improve robotic machining performance with industrial robots. A complete solution using active force control is introduced to address various issues arouse during the robotic machining process. Programming complex contour parts without a CAD model is made easy 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 real-time deformation compensation for quality and controlled material removal rate (CMRR) for process efficiency. Experimental results show 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.



Link to publisher version (DOI)