@inproceedings{92d3b2cb78654c98b351110c8935cb19,
title = "A robotic deburring system of foundry castings based on flexible workobject localization",
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.",
keywords = "robotic deburring, workobject localization, octree, off-line programming, collision detection",
author = "Mikko Sallinen and Tapio Heikkil{\"a} and Matti Sirvi{\"o}",
note = "Project code: A9SU00755; Intelligent Systems and Advanced Manufacturing ; Conference date: 05-10-2001 Through 05-10-2001",
year = "2001",
doi = "10.1117/12.444217",
language = "English",
isbn = "978-0-8194-4300-7",
series = "Proceedings of SPIE",
publisher = "International Society for Optics and Photonics SPIE",
pages = "476--487",
editor = "Casasent, {David P.} and Hall, {Ernest L.}",
booktitle = "Intelligent Robots and Computer Vision XX",
address = "United States",
}