Academic Journal
Tool orientation and path optimisation for error compensation in direct robotic plunge milling.
| Τίτλος: | Tool orientation and path optimisation for error compensation in direct robotic plunge milling. |
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| Συγγραφείς: | Zhang, Runan1 (AUTHOR) r.zhang2@bath.ac.uk, Wang, Zheng1 (AUTHOR), Alves, Diogo Stuani1 (AUTHOR), Hayward, Samantha1 (AUTHOR), Bailey, Nicola Y.2 (AUTHOR), Keogh, Patrick S.1 (AUTHOR) |
| Πηγή: | International Journal of Computer Integrated Manufacturing. Aug2026, Vol. 39 Issue 8, p1069-1087. 19p. |
| Θεματικοί όροι: | *Industrial robots, *Machining, Robotic path planning, Milling-machines |
| Περίληψη: | Despite the wide success of serial robots in manufacturing applications, precision machining operations are rare, due to their limited motion accuracy. Direct robotic plunge milling, without using external actuation for axial movements, is yet to be investigated and optimised. In a typical plunging process, kinematic and joint reversal errors of the robot offset the cutting tool from its designated trajectory. Additionally, the low stiffness of a serial robot allows the cutting tool to deflect further and can induce self-excited chatter under the cutting force action. Together, these effects may cause significant dimensional errors in both hole positions and bore profiles. This paper identifies these critical error sources during the robotic plunge milling process and proposes a novel optimisation strategy that combines feedforward motion planning and feedback motion control to minimise the errors. The performance of the optimisation strategy is initially evaluated in airborne plunge milling tests for suppressing movement errors of the tool centre point. Aluminium plunge milling tests are then presented to analyse the suppression of dimensional errors in milled holes. The experimental results show that the proposed strategy significantly improves the machining accuracy in direct robotic plunge milling, reducing manufacturing errors by more than 80%. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Computer Integrated Manufacturing is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Βάση Δεδομένων: | Business Source Index |
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| Items | – Name: Title Label: Title Group: Ti Data: Tool orientation and path optimisation for error compensation in direct robotic plunge milling. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Zhang%2C+Runan%22">Zhang, Runan</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> r.zhang2@bath.ac.uk</i><br /><searchLink fieldCode="AR" term="%22Wang%2C+Zheng%22">Wang, Zheng</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Alves%2C+Diogo+Stuani%22">Alves, Diogo Stuani</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Hayward%2C+Samantha%22">Hayward, Samantha</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Bailey%2C+Nicola+Y%2E%22">Bailey, Nicola Y.</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Keogh%2C+Patrick+S%2E%22">Keogh, Patrick S.</searchLink><relatesTo>1</relatesTo> (AUTHOR) – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Computer+Integrated+Manufacturing%22">International Journal of Computer Integrated Manufacturing</searchLink>. Aug2026, Vol. 39 Issue 8, p1069-1087. 19p. – Name: Subject Label: Subject Terms Group: Su Data: *<searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br />*<searchLink fieldCode="DE" term="%22Machining%22">Machining</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Milling-machines%22">Milling-machines</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Despite the wide success of serial robots in manufacturing applications, precision machining operations are rare, due to their limited motion accuracy. Direct robotic plunge milling, without using external actuation for axial movements, is yet to be investigated and optimised. In a typical plunging process, kinematic and joint reversal errors of the robot offset the cutting tool from its designated trajectory. Additionally, the low stiffness of a serial robot allows the cutting tool to deflect further and can induce self-excited chatter under the cutting force action. Together, these effects may cause significant dimensional errors in both hole positions and bore profiles. This paper identifies these critical error sources during the robotic plunge milling process and proposes a novel optimisation strategy that combines feedforward motion planning and feedback motion control to minimise the errors. The performance of the optimisation strategy is initially evaluated in airborne plunge milling tests for suppressing movement errors of the tool centre point. Aluminium plunge milling tests are then presented to analyse the suppression of dimensional errors in milled holes. The experimental results show that the proposed strategy significantly improves the machining accuracy in direct robotic plunge milling, reducing manufacturing errors by more than 80%. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Computer Integrated Manufacturing is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1080/0951192X.2025.2511107 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 19 StartPage: 1069 Subjects: – SubjectFull: Industrial robots Type: general – SubjectFull: Machining Type: general – SubjectFull: Robotic path planning Type: general – SubjectFull: Milling-machines Type: general Titles: – TitleFull: Tool orientation and path optimisation for error compensation in direct robotic plunge milling. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Zhang, Runan – PersonEntity: Name: NameFull: Wang, Zheng – PersonEntity: Name: NameFull: Alves, Diogo Stuani – PersonEntity: Name: NameFull: Hayward, Samantha – PersonEntity: Name: NameFull: Bailey, Nicola Y. – PersonEntity: Name: NameFull: Keogh, Patrick S. IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 08 Text: Aug2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 0951192X Numbering: – Type: volume Value: 39 – Type: issue Value: 8 Titles: – TitleFull: International Journal of Computer Integrated Manufacturing Type: main |
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