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Dr Huseyin Celikag

Graduated 2021

The CNC machines have proven to be superior in conducting machining processes creating dimensionally accurate workpieces with a good surface finish, but they have major drawbacks such as high capital cost and small workspace. Recently, industrial robots drew the attention of the machining sector as a potential alternative to CNC machines due to their high dexterity, large workspace and ability to conduct various tasks, with a relatively low capital cost. However, their poor and varying rigidity and low precision are the main factors impeding their application to hard material machining operations. The cutting forces emerging from the machining processes results in considerably large tool deflections and unstable vibrations between workpiece and tool itself.


Therefore, the PhD project focusses on improving various aspects of the dynamics of machining with industrial robots. This will, in turn, increase the application of robotic machining operations within the manufacturing industries and robots’ ability to machine harder materials. Eventually, this work would enable industrial robots to be able to machine with better dimensional accuracy and have improved material removal rate compared to their current capabilities.


Celikag, H., Sims, N.D., and Ozturk, E. 2019. ‘Chatter Suppression in Robotic Milling by Control of Configuration Dependent Dynamics’. Procedia CIRP 82, 521-526.

Read paper here

Celikag, H., Sims, N.D., Ozturk, E. 2018. ‘Cartesian Stiffness Optimization for Serial Arm Robots’. Procedia CIRP 77, 566-569.

Read paper here