The common systems for the machining of large-volume fibre-reinforced plastic (FRP) components are based on multiaxis portal milling machines. Cost and energy efficient alternative is the use of industrial robots. Due to the lower stiffness of common industrial robots combined with the large variability of cutting forces during processing of inhomogeneous FRPs, a satisfactory machining quality could not been achieved. This paper presents a comprehensive development of a modular self-Adapting vibration compensator used for the reduction of milling process-born vibrations. Herein, an iterative simulation procedure using coupled Computer-Aided Design, Finite- Element and multibody models was applied and experimentally validated.