Tool path generation based on matching between teaching points and CAD model for robotic deburring

Hee Chan Song, Byeong Sang Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

Deburring is a machining process which involves much noise, vibration and dust, so it can be harmful to workers. Therefore, much research has been done to use a manipulator to perform deburring instead of human workers. The precise tracking of the contour of an arbitrary-shaped part is of major concern in robotic deburring. In this study, a tool path generation method based on the CAD model and the direct teaching method is proposed to minimize the position and orientation errors of the workpieces. Without knowledge of the position and orientation of the workpiece, which is often hard to obtain, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. Furthermore, impedance control is used to avoid applying excessive contact force. From a series of experiments on robotic deburring, the performance of the proposed algorithm is verified.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages890-895
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period12/7/1112/7/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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