Active vibration control for robotic machining

Zheng Wang, Patrick Keogh

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

15 Citations (SciVal)


Due to their flexibility, low cost and large working volume, 6-axis articulated industrial robots are being used increasingly for drilling, trimming and machining operations. However, producing high quality components has proven to be difficult, as a result of the inherent problems of robots, including low structural stiffness, hence excitation of structural modes, low positional accuracy, and bandwidth limitations associated with dynamics and control. These limit robotic machining to noncritical components and parts with low accuracy and surface finish requirements. As a part of the "Light Controlled Factory" project at the University of Bath, studies have been carried out to improve robotic machine capability, specifically positioning accuracy and vibration reduction. This paper describes experimental studies in reducing robot machining vibrations induced by cutting forces with active vibration control, using accelerometers to measure vibration and inertial actuators to mitigate vibration forces. With a relatively simple controller, a 25% reduction of RMS vibration amplitude is demonstrated.

Original languageEnglish
Title of host publicationAdvanced Manufacturing
Subtitle of host publicationVolume 2
Place of PublicationU. S. A.
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages6
ISBN (Electronic)9780791858356
Publication statusPublished - 2017
EventASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017 - Tampa, USA United States
Duration: 3 Nov 20179 Nov 2017


ConferenceASME 2017 International Mechanical Engineering Congress and Exposition, IMECE 2017
Country/TerritoryUSA United States

Bibliographical note

Paper No. IMECE2017-71670


  • Control
  • Machining
  • Robotics
  • Vibration

ASJC Scopus subject areas

  • Mechanical Engineering


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