Robotic deburring system of foundry castings based on flexible workobject localization

Mikko Sallinen; Tapio A. Heikkila; Matti Sirvio

doi:10.1117/12.444217

5 October 2001 Robotic deburring system of foundry castings based on flexible workobject localization

Mikko Sallinen, Tapio A. Heikkila, Matti Sirvio

Proceedings Volume 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision; (2001) https://doi.org/10.1117/12.444217
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper presents methods to improve flexibility and accuracy of deburring of castings. We apply several methods including off-line programming of the deburring paths, accurate localization of the work object, surface measuring of the work object and a force-guided motion control during the deburring task. The eye-in-hand calibration as well as the localization of the work object we carry out using the Bayesian-form estimation method with recursive sensor fusion. As a result from the work object localization we obtain a 3 DOF location increment (position difference between the simulation model and actual workcell) and actual deburring paths are corrected using that increment. The simulation phase includes octree-based collision check and the faceting uses octree principle too. The paper includes results from actual tests which are promising. The methods are designed to be easy-to-implement in any industrial robot.

Citation Download Citation

Mikko Sallinen, Tapio A. Heikkila, and Matti Sirvio "Robotic deburring system of foundry castings based on flexible workobject localization", Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); https://doi.org/10.1117/12.444217

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