Cl.JTTING ANGLEON CHATTERING OF A FLEXIBLE MANIPULATOR

When a ~3.ciJjne iool is rhounced at the tipbla rofjrilicm,11!iplJ~ lalO~ the mani;uialbf becomes mor~ r/exible (ihq na!Urai frcqrlc!!cics, , " are l~lI'ered i, ,i Iorco l'I"!r, ro~ ,t gil,~iJ flexible m'ruiipula.lOr, irsco:::pii~" :,'wcc wilJ b~ ciiffereiJt dependiIlg OIJ ICedbackgains, configurations, ilmi direction of imeresc: 'In this paper. the compliallce o[a mallipmawr is' 'de;{"cd iwail'ticaiil', .wd its mag~Ji!Ude is repfeSeIJtcd' ,1$ ,1 compli.lIJCe " large c~tting forces. Eve~tually th~se uncoimoiieci large cutting , forces wiil'shorten the life oCthe, grinding wheel and' thema' , nipuiaror. Also, the high stiffness (Kd causes' a hit;h frequency ,osciiiationor unstCable chattering, due to reaction:'orces from the workpiece. This behavior can be easily expiaineci .by aroodo-, cuS '~'ith increasing K L assuming that the position-controlled robot is a'linear mass-damper-spring system. Therefore. the " . compiiance of the manipulator becomes orie oi, the, important :' paramei:ers~ and more compliance is desirable in the ctlCting .eJJipsoid. T.~en; ~i[Jg ii,t~:O lilliuiexible ma.lJipuJa.ior whi! all librasil'e "cut-ol[saw. theexDetim'ental i[JH!Stiaation sliows rhat tfie ci!,1w:l'ing I'aiies with the s~'~: cut tilJ <T'aJJaie due"'co thedif[crent compiialJce. "T1JC . _ ' _ . .'~ ,~ .. ,_0 _ :" _'_.. ._ ~ :main' work is del'oc'edto finding a'd~ira,ble cuttirig angle wilichrcc: rICeS" process' with pure position control. ' '" ' rri: this pti:per.the' co~pliance of ~ ~~xtip~ator is dcri~ed ' , ": the, cha.ttering. ' ..