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)


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
ISBN (Print)0-8194-4300-X
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


ConferenceIntelligent Systems and Advanced Manufacturing
Country/TerritoryUnited States


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


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