Model based analysis of kinematic redundancy for increased chatter stability in robotic milling

Robotic milling is exposed to varying dynamic response at the tool tip due to varying serial kinematics and related dynamic properties of the robot. Therefore, stable milling conditions vary throughout the workspace based on the feed direction, as well. In this study, it is shown that kinematic redundancy of 6-axis serial arm robots can be used to reach improved stable cutting conditions and to eliminate the feed and position dependent on stability limits. The discussions are provided through simulations.