Closed-loop control of the chatter in robotic milling based on magnetorheological elastomer absorber

To address the issue of chatter in robotic milling, this study conducts a closed-loop control experiment utilizing a Magnetorheological Elastomer (MRE) vibration absorber to evaluate its suppression characteristics. Through the vibration table sweep frequency test, the natural frequencies of isotropic and anisotropic MRE vibration absorbers are obtained and compared, and it is revealed that the bandwidth of the anisotropic MRE vibration absorber is increased by 24.8%, and the frequency shift characteristic reaches 160.58%, making it more suitable for suppressing the chatter in robot milling. Building upon this finding, a closed-loop control system is constructed, incorporating a current controller for the excitation coil based on the TMS320F28335B DSP. The performance of the MRE vibration absorber under various control strategies-no absorber, with absorber and without current, open-loop current control, and closed-loop control are meticulously evaluated through four groups of robotic milling tests. The results demonstrate that the closed-loop control strategy significantly enhances the chatter suppression capabilities of the MRE vibration absorber. This approach facilitates real-time control over chatter in robotic milling, offering an innovative solution for chatter mitigation in industrial robotic applications.