机器人铣削拥有操作空间大、柔性好、成本低、协同性高等优势，已成为一种具有广阔应用前景的加工方式，然而，机器人铣削系统所固有的弱刚性使其容易发生加工颤振，与传统铣削不同，机器人铣削加工中模态耦合颤振与再生颤振均可能发生，颤振问题已成为制约机器人铣削技术发展的瓶颈。本项目针对机器人铣削颤振问题，展开机器人铣削颤振的在线辨识及解耦抑制方法与系统研究，具体包括：研究模态耦合颤振和再生颤振早期阶段的动力学变化规律，提出机器人铣削颤振早期微弱特征提取及类型智能判别方法；针对模态耦合颤振和再生颤振，研究解耦抑制策略及参数影响规律；建立机器人铣削颤振在线辨识-解耦抑制的闭环控制系统，研究控制系统稳定性与各模块算法的轻量化设计；搭建机器人铣削实验平台，验证并完善颤振在线辨识与解耦抑制的理论及相关算法。本项目将提供一套完整的机器人铣削颤振在线辨识及抑制方法，为我国机器人铣削技术的发展提供理论基础和技术支撑。

Robotic milling is a promising machining approach with broad applications, since it has the large operating space, high flexibility, low cost, and excellent cooperativity. However, machining chatter will be apt to happen due to the inherent low stiffness of the robotic milling system. In robotic milling, it is noteworthy that both mode coupling chatter and regenerative chatter may occur. Chatter has become a bottleneck restricting the development of robotic milling technology. This project focuses on chatter in robotic milling to achieve online identification and decoupled suppression methods of chatter, as well as the identification-suppression close-loop control system. The contents of the project are as follows. Firstly, the dynamic characteristics of mode coupling chatter and regenerative chatter at the early stage are investigated in depth. The online feature extraction of early chatter and intelligent identification of the chatter type are developed. Secondly, decoupled chatter suppression strategies are proposed for mode coupling chatter and regenerative chatter respectively. The joint effects of various parameters in each strategy on suppression performance are investigated. Thirdly, the close-loop control system of online identification and decoupled suppression is proposed. The stability of the control system is analyzed and the modules of the system are optimized to improve the computational efficiency. Fourthly, the robotic milling platform is developed to verify and improve the theory and algorithms of online chatter identification and suppression. The project finally offers a complete chatter identification and suppression system for robotic milling, in order to provide theoretical and technical support for improving stability and precision of robotic milling.