Control of a Multi Degrees Functional Redundancies Robotic Cell for Optimization of the Machining Stability

Productivity in robotic machining processes can be limited by instability phenomena resulting from the interaction between robot dynamics and cutting conditions. The robot dynamic behavior and consequently the machining stability vary within the workspace, due to the changes of the robot posture. Therefore, the chatter in machining robot depends on cutting parameters and as well as the robot configuration. Hence, each posture of the robot has its own stable cutting conditions. Moreover, along a machining trajectory, the robot can follow an infinite number of postures in its configuration space, due to the redundancies offered by the overall kinematic chain of the robotic cell. This paper deals with the control of the multi degrees functional redundancies of the ABB IRB6660 robotic cell for optimization of the machining stability.