Tool path generation and back-off error analyze for robot milling process

Abstract

An improved CC route tool path generation method is presented for robot milling process. Corresponding back-off error model is established based on the robot static elastic model and the ball-end cutter milling force model. Compared with the traditional CC route method, the distance between the adjacent constraint surfaces is adjusted dynamically and thus the milling accuracy will be improved. According to the back-off error model, tool posture can be optimized using genetic algorithms. It is significantly important for reducing the back-off error during robot milling process.