A robotic deburring system of foundry castings based on flexible workobject localization

Mikko Sallinen, Tapio Heikkilä, Matti Sirviö

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

7 Citations (Scopus)

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 workobject, surface measuring of the workobject and a force guided motion control during the deburring task. The eye-in-hand calibration as well as the localization of the workobject we carry out using the Bayesian -form estimation method with recursive sensor fusion. As a result from the workobject 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.
Original languageEnglish
Title of host publicationIntelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision
PublisherInternational Society for Optics and Photonics SPIE
Pages476-487
ISBN (Print)0-8194-4300-X
DOIs
Publication statusPublished - 2001
MoE publication typeA4 Article in a conference publication
EventIntelligent Systems and Advanced Manufacturing - Boston, United States
Duration: 5 Oct 20015 Oct 2001

Publication series

SeriesProceedings of SPIE
Volume4572
ISSN0277-786X

Conference

ConferenceIntelligent Systems and Advanced Manufacturing
CountryUnited States
CityBoston
Period5/10/015/10/01

Fingerprint

Deburring
Foundries
Robotics
Industrial robots
Motion control
Fusion reactions
Calibration
Castings
Sensors

Keywords

  • robotic deburring
  • workobject localization
  • octree
  • off-line programming
  • collision detection

Cite this

Sallinen, M., Heikkilä, T., & Sirviö, M. (2001). A robotic deburring system of foundry castings based on flexible workobject localization. In Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision (pp. 476-487). International Society for Optics and Photonics SPIE. Proceedings of SPIE, Vol.. 4572 https://doi.org/10.1117/12.444217
Sallinen, Mikko ; Heikkilä, Tapio ; Sirviö, Matti. / A robotic deburring system of foundry castings based on flexible workobject localization. Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE, 2001. pp. 476-487 (Proceedings of SPIE, Vol. 4572).
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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 workobject, surface measuring of the workobject and a force guided motion control during the deburring task. The eye-in-hand calibration as well as the localization of the workobject we carry out using the Bayesian -form estimation method with recursive sensor fusion. As a result from the workobject 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.",
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Sallinen, M, Heikkilä, T & Sirviö, M 2001, A robotic deburring system of foundry castings based on flexible workobject localization. in Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE, Proceedings of SPIE, vol. 4572, pp. 476-487, Intelligent Systems and Advanced Manufacturing, Boston, United States, 5/10/01. https://doi.org/10.1117/12.444217

A robotic deburring system of foundry castings based on flexible workobject localization. / Sallinen, Mikko; Heikkilä, Tapio; Sirviö, Matti.

Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE, 2001. p. 476-487 (Proceedings of SPIE, Vol. 4572).

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Sallinen M, Heikkilä T, Sirviö M. A robotic deburring system of foundry castings based on flexible workobject localization. In Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision. International Society for Optics and Photonics SPIE. 2001. p. 476-487. (Proceedings of SPIE, Vol. 4572). https://doi.org/10.1117/12.444217