TY - CONF A1 - Lehmann, Christian A1 - Halbauer, Marcel A1 - Euhus, Dirk A1 - Overbeck, Daniel T1 - Milling with industrial robots: Strategies to reduce and compensate process force induced accuracy influences T2 - Proceedings of the 17th IEEE International Conference on Emerging Technologies & Factory Automation (ETFA 2012), Krakow, Poland, 17 - 21 September 2012, vol. 2 N2 - Industrial robots offer a good basis for machining from a conceptual point of view. However they are rarely utilized for machining applications in industry due to their low stiffness and the bad achievable work piece quality. Available solutions using position control of the tool require costly additional hardware and measurement equipment; force controlled solutions depend on low level controller access that is not commonly available for generic cell setups. This paper proposes a three-step approach to compensate for process force induced accuracy errors: (1) selection of appropriate milling strategies and cutting parameters, (2) an offline compensation of the force induced deviations and (3) a respective online compensation method. Experimental validation of the results has been performed for the first two steps. KW - milling KW - robots KW - process forces Y1 - 2013 UR - https://opus4.kobv.de/opus4-UBICO/frontdoor/index/index/docId/9061 SN - 978-1-4673-4735-8 SP - 1075 EP - 1078 PB - IEEE CY - Piscataway, NJ ER -