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
Subtitle of host publicationAlgorithms, Techniques, and Active Vision
EditorsDavid P. Casasent, Ernest L. Hall
PublisherInternational Society for Optics and Photonics SPIE
ISBN (Print)978-0-8194-4300-7
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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