To improve the machining ability of serial robots, an optimized SSI method is proposed to realize online modal identification. Firstly, the method employs the NExT technology, modal confidence factor, and modal assurance criterion to improve the parameters’ identification accuracy. Next, the machining vibration data at key points in the path of the machining robot are used to identify the modal frequency and damping ratio. Finally, the experimental results show that the optimized SSI method can achieve estimation errors within 7%, and the method of optimized SSI is more accurate than the traditional SSI method. Therefore, if only the modal frequency and the damping ratio are concerned, the method can realize the online recognition of modal parameters in the cutting path of the machining robot, which can provide key input parameters for the process planning and optimization.
Guo et al. (Tue,) studied this question.