SUMMARY

Six degree-of-freedom (6-dof) industrial robots have the potential to perform a variety of manufacturing tasks like machining or welding. Currently they are limited in their ability to perform high precision tasks (e.g. milling) due to
inaccuracies caused by kinematic errors and low stiffness compared to conventional machine tools. In this thesis, a force model-based control algorithm will be developed for the process of face milling with a 6-dof industrial robot.
In addition, a control algorithm for the detection and reduction of chatter vibrations through spindle speed modulation will be implemented. The research focus is on the improvement of accuracy and surface finish. Experiments will be conducted to validate the improvement in quality through both methods.

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