The range of tasks performed by industrial robots has become increasingly comprehensive in recent decades.
This includes pick-and-place tasks with low to medium handling weights, as well as material processing
tasks with medium to high processing forces. Milling in particular involves high-frequency excitation of the
material, which results in vibration phenomena and therefor affects the surface quality of the product. These
effects were investigated by milling tests at characteristic positions and in different orientations of the milling
spindle, using aluminum. For this purpose, based on an experimental modal analysis, a prediction model of
the robot's natural frequencies in dependence of the joint positions was developed. This allowed the
determination of characteristic milling positions and milling spindle orientations. Subsequently, the milling
results were related to a causal connection and were analyzed regarding the natural frequencies.
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