Precision robotic deburring based on force control for arbitrarily shaped workpiece using CAD model matching

Hee Chan Song, Jae-Bok Song

Research output: Contribution to journalArticle

24 Citations (Scopus)

Abstract

Surface finishing processes such as deburring are crucial for ensuring the quality of a workpiece and human safety by removing burrs. However, deburring involves excessive noise, dust, and vibration, which can be harmful to human workers. Thus, there has been extensive research into the use of robots to perform deburring instead of human workers. In robotic deburring, the precise tracking of the contour of an arbitrarily shaped workpiece is of major concern for precision deburring. In this study, to achieve precision deburring, a tool-path modification method based on a computer-aided design (CAD) model and direct teaching is proposed taking into consideration the position/orientation errors of the workpiece. In addition, based on this trajectory, impedance control is used to avoid applying an excessive contact force and a virtual wall is adopted to improve the force-control performance. Without knowing the position/orientation of the workpiece, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. From the simulations of the tool path modification method using an iterative closest point (ICP)-based contour matching algorithm and a series of experiments on robotic deburring, the performance of the proposed method was verified.

Original languageEnglish
Pages (from-to)85-91
Number of pages7
JournalInternational Journal of Precision Engineering and Manufacturing
Volume14
Issue number1
DOIs
Publication statusPublished - 2013 Apr 29

Fingerprint

Deburring
Force control
Computer aided design
Robotics
Teaching
Trajectories
Dust
Robots

Keywords

  • CAD model
  • Direct teaching
  • ICP matching algorithm
  • Impedance control
  • Robotic deburring

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

@article{3384bd3c9717429abcb8248301f15dd7,
title = "Precision robotic deburring based on force control for arbitrarily shaped workpiece using CAD model matching",
abstract = "Surface finishing processes such as deburring are crucial for ensuring the quality of a workpiece and human safety by removing burrs. However, deburring involves excessive noise, dust, and vibration, which can be harmful to human workers. Thus, there has been extensive research into the use of robots to perform deburring instead of human workers. In robotic deburring, the precise tracking of the contour of an arbitrarily shaped workpiece is of major concern for precision deburring. In this study, to achieve precision deburring, a tool-path modification method based on a computer-aided design (CAD) model and direct teaching is proposed taking into consideration the position/orientation errors of the workpiece. In addition, based on this trajectory, impedance control is used to avoid applying an excessive contact force and a virtual wall is adopted to improve the force-control performance. Without knowing the position/orientation of the workpiece, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. From the simulations of the tool path modification method using an iterative closest point (ICP)-based contour matching algorithm and a series of experiments on robotic deburring, the performance of the proposed method was verified.",
keywords = "CAD model, Direct teaching, ICP matching algorithm, Impedance control, Robotic deburring",
author = "Song, {Hee Chan} and Jae-Bok Song",
year = "2013",
month = "4",
day = "29",
doi = "10.1007/s12541-013-0013-2",
language = "English",
volume = "14",
pages = "85--91",
journal = "International Journal of Precision Engineering and Manufacturing",
issn = "1229-8557",
publisher = "Korean Society of Precision Engineering",
number = "1",

}

TY - JOUR

T1 - Precision robotic deburring based on force control for arbitrarily shaped workpiece using CAD model matching

AU - Song, Hee Chan

AU - Song, Jae-Bok

PY - 2013/4/29

Y1 - 2013/4/29

N2 - Surface finishing processes such as deburring are crucial for ensuring the quality of a workpiece and human safety by removing burrs. However, deburring involves excessive noise, dust, and vibration, which can be harmful to human workers. Thus, there has been extensive research into the use of robots to perform deburring instead of human workers. In robotic deburring, the precise tracking of the contour of an arbitrarily shaped workpiece is of major concern for precision deburring. In this study, to achieve precision deburring, a tool-path modification method based on a computer-aided design (CAD) model and direct teaching is proposed taking into consideration the position/orientation errors of the workpiece. In addition, based on this trajectory, impedance control is used to avoid applying an excessive contact force and a virtual wall is adopted to improve the force-control performance. Without knowing the position/orientation of the workpiece, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. From the simulations of the tool path modification method using an iterative closest point (ICP)-based contour matching algorithm and a series of experiments on robotic deburring, the performance of the proposed method was verified.

AB - Surface finishing processes such as deburring are crucial for ensuring the quality of a workpiece and human safety by removing burrs. However, deburring involves excessive noise, dust, and vibration, which can be harmful to human workers. Thus, there has been extensive research into the use of robots to perform deburring instead of human workers. In robotic deburring, the precise tracking of the contour of an arbitrarily shaped workpiece is of major concern for precision deburring. In this study, to achieve precision deburring, a tool-path modification method based on a computer-aided design (CAD) model and direct teaching is proposed taking into consideration the position/orientation errors of the workpiece. In addition, based on this trajectory, impedance control is used to avoid applying an excessive contact force and a virtual wall is adopted to improve the force-control performance. Without knowing the position/orientation of the workpiece, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. From the simulations of the tool path modification method using an iterative closest point (ICP)-based contour matching algorithm and a series of experiments on robotic deburring, the performance of the proposed method was verified.

KW - CAD model

KW - Direct teaching

KW - ICP matching algorithm

KW - Impedance control

KW - Robotic deburring

UR - http://www.scopus.com/inward/record.url?scp=84876550318&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84876550318&partnerID=8YFLogxK

U2 - 10.1007/s12541-013-0013-2

DO - 10.1007/s12541-013-0013-2

M3 - Article

AN - SCOPUS:84876550318

VL - 14

SP - 85

EP - 91

JO - International Journal of Precision Engineering and Manufacturing

JF - International Journal of Precision Engineering and Manufacturing

SN - 1229-8557

IS - 1

ER -