Compliance compensation for manufacturing processes with serial kinematic robots

In this work, an application of milling process with a serial kinematic robot will be tested. Starting from the code generation, a possible way to obtain the robot code from the 3D model of the product will be explained. Then, the attention will move on the robot compliance modeling, using the method of the clamping tests and analyzing it in different configurations. At the end, the set of data, result of the stiffness identification, will be used for compensation tests with a real milling process and the results will be compared with data from a camera system.