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

Keywords

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

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  • 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