The use of industrial robots have remarkably increased during the past decade and its applications include a wide variety from simple and repetitive tasks like loading and unloading to highly sophisticated tasks like assembly operations. robots are considered as the next generation of machine tools. Notwithstanding the advantages brought about by the implementation of robotic machining systems, robots compared to conventional machine tools have less stiffness. It is largely due to the serial and coupled structure of the manipulator of the robot. Moreover, regarding the high machining forces and weaker structure of manipulator, stability of robotic machining operation is considerably more sensitive than general machining methods. Generally in order to study the stability of machining operation the possibility of occurrence of a phenomenon called chatter vibrations is surveyed. according to the nonlinear, coupled structure of the manipulator, the mechanical properties of the robot will change. In this thesis a model is provided for detecting chatter vibrations in robotic machining by using the most important chatter mechanism and the dynamic model of robot. Thus, chatter stability lobes could be extracted from the model by running the simulations. Furthermore by means of time-domain approach for chatter analysis, an objective function is obtained which is capable of numerically assessing the possibility of chattering in various machining conditions. On the other hand, by using a redundant kinematic structure of a given manipulator, the number of inverse kinematic solutions to position the endeffector excessively increases. Now the question is that which one of the configuration solutions best fits the necessities of a stable machining operation. In fact the objective is to find the configuration having the best mechanical properties in order to achieve chatter free robotic machining operation. In the next step, by putting the transfer function of each configuration in the chatter analysis model, the corresponding value could be extracted for the objective function according to the cutting parameters of the machining operation. Finally the optimal configuration can be achieved by choosing the configuration possessing the least value acquired for the objective function. It is shown that by using the presented method to detect the chatter vibrations in robotic machining process it is possible to survey the machining stability and choose the best machining variables through off-line simulations based on dynamic and kinematic parameters of the manipulator. Thus, robotic engineers and process planners could manage to spend less time on trial and error to choose robotic machining parameters. Key words: Robotic Machining, Chatter Vibrations, Dynamic Model, Kinematic Redundancy, Time Domain Analysis