Intelligent Cutting Force Control by a Cooperative Multi-Robot System: Modeling and Simulation in a Milling Application

Abstract

This study explores the intricacies of employing two cooperative robotic manipulators for milling operations. Path planning, tool feed rate regulation, and cutting force management constitute essential elements in the milling process executed by these two collaborative robots. The two cooperative robots' milling process requires the coordination of path planning, cutting force management, and tool feed rate regulation. The path planning for the robotic system has been meticulously designed and seamlessly integrated with milling process expertise, while also adhering to the necessary technical specifications. This has been subsequently implemented on two cooperative robots featuring 3 Degrees of Freedom (3-DOF), utilizing the Staubli TX-90 robot model as a foundation. The milling of a typical workpiece by this robotic system is exemplified as a constrained optimization process. Regarding cooperative robot control, a method based on the Multiple Adaptive Neuro-Fuzzy Inference System (MANFIS) has been embraced. In order to validate the effectiveness of the presented approach, a comprehensive simulation has been conducted by using Matlab/SimMechanics software, and the results from this simulation have unequivocally substantiated the efficacy of the method.