atedmanipulatorwithaspindleandatoolaremodeled.Thedynamicmillingforcesareappliedontherobotstructurewhichhasstrongcrosscouplingterms.Thestabilityoftheresultingsystemisanalyzedusingsemi-discretetimeandfrequencydomainmethods.ThepredictedstabilitychartsareexperimentallyvalidatedinmillingofAluminumandTitaniumparts.Itisshownthatthepose-dependentmodesoftherobotstructureareallatlowfrequencies,andtheyaredampedoutbythemachiningprocessathighspindlespeeds.Onlytheposeindependentspindlemodescausechatterinhigh-speedmilling,hencehighmaterialremovalratescanbeachievedbyselectinganalyticallypredictedstabledepthofcutsandspindlespeedsinroboticmillingofAluminumparts.InlowspeedmillingofTitaniumpartshowever,theposedependentlowfrequencyrobotmodeschatter.18、【篇名】Adistributedapproachtorobustcontrolofmulti-robotsystems
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