Hi all,
A few months back I bought a second-hand KUKA KR100-2 P (KR C2), which I'm using for milling wood and fibre-reinforced plastic. This has been working great for the past few weeks, but at certain (heavy) cutting, the robot starts to vibrate/resonate. When I start cutting, the tool starts vibrating more and more (in the feed-direction mostly), a swell for about half a second, then stops (presumably because the period of the vibration gets too long and the robot compensates or something?),vibration swells again for half a second etc.
Is there a way to reduce this? I haven't set loaddata (the load varies with the cutting force) so it is at maximum robot capacity. The actual weight of the milling motor is about 35kg. Would setting load data help? If so, how should I account for the cutting forces? Or is there another way to make the robot arm behave stiffer?