Stone-carving robotic manipulators (SCRMs) have a broad range of applications due to their high efficiency, diverse processing capabilities, and strong flexibility. However, due to its weak rigidity, the milling accuracy of an SCRM is lower than that of a computer numerical control (CNC) machine for working stone into special shapes, making it difficult to meet the requirements of stone milling processing. To improve the milling accuracy of SCRMs, multi-iteration error compensation technology considering the coupling relationship between compensation and deformation is proposed in this paper. First, a global stiffness model of an SCRM in which the robot arm bars are regarded as flexible links is established, and the relationship between the milling force and milling depth is fitted based on a milling force prediction model. Then, the machining error and milling depth when processing a marble workpiece are predicted. Finally, a multi-iteration method is applied for calculation using an interval correction strategy to construct a discrete control system for error compensation in the SCRM. The feasibility and effectiveness of the proposed compensation technology are verified by an experiment using the KUKA-240-2900 SCRM system.

石雕机器人操纵器（SCRM）由于其高效，多样化的处理能力和强大的灵活性而具有广泛的应用范围。但是，由于其刚性差，SCRM的铣削精度低于将石材加工成特殊形状的计算机数控（CNC）机床的铣削精度，从而难以满足石材铣削加工的要求。为了提高SCRM的铣削精度，提出了考虑补偿与变形耦合关系的多迭代误差补偿技术。首先，建立了以机械臂为柔性连杆的SCRM整体刚度模型，并基于铣削力预测模型拟合了铣削力与铣削深度之间的关系。然后，预测了加工大理石工件时的加工误差和铣削深度。最后，采用迭代法将多重迭代法应用到计算中，以构建用于SCRM中误差补偿的离散控制系统。通过使用KUKA-240-2900 SCRM系统进行的实验，验证了所提出的补偿技术的可行性和有效性。