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

Mikko Sallinen; Tapio Heikkilä; Matti Sirviö

doi:10.1117/12.444217

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

Mikko Sallinen
, Tapio Heikkilä
, Matti Sirviö

VTT Technical Research Centre of Finland

University of Oulu

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-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 language	English
Title of host publication	Intelligent Robots and Computer Vision XX
Subtitle of host publication	Algorithms, Techniques, and Active Vision
Editors	David P. Casasent, Ernest L. Hall
Publisher	International Society for Optics and Photonics SPIE
Pages	476-487
ISBN (Print)	978-0-8194-4300-7
DOIs	https://doi.org/10.1117/12.444217
Publication status	Published - 2001
MoE publication type	A4 Article in a conference publication
Event	Intelligent Systems and Advanced Manufacturing - Boston, United States Duration: 5 Oct 2001 → 5 Oct 2001

Publication series

Series	Proceedings of SPIE
Volume	4572
ISSN	0277-786X

Conference

Conference	Intelligent Systems and Advanced Manufacturing
Country/Territory	United States
City	Boston
Period	5/10/01 → 5/10/01

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

robotic deburring
workobject localization
octree
off-line programming
collision detection

Access to Document

10.1117/12.444217

Cite this

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. editor / David P. Casasent ; Ernest L. Hall. International Society for Optics and Photonics SPIE, 2001. pp. 476-487 (Proceedings of SPIE, Vol. 4572).

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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",

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series = "Proceedings of SPIE",

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Sallinen, M, Heikkilä, T & Sirviö, M 2001, A robotic deburring system of foundry castings based on flexible workobject localization. in DP Casasent & EL Hall (eds), 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, Massachusetts, 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. ed. / David P. Casasent; Ernest L. Hall. International Society for Optics and Photonics SPIE, 2001. p. 476-487 (Proceedings of SPIE, Vol. 4572).

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - A robotic deburring system of foundry castings based on flexible workobject localization

AU - Sallinen, Mikko

AU - Heikkilä, Tapio

AU - Sirviö, Matti

N1 - Project code: A9SU00755

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

KW - robotic deburring

KW - workobject localization

KW - octree

KW - off-line programming

KW - collision detection

U2 - 10.1117/12.444217

DO - 10.1117/12.444217

M3 - Conference article in proceedings

SN - 978-0-8194-4300-7

T3 - Proceedings of SPIE

SP - 476

EP - 487

BT - Intelligent Robots and Computer Vision XX

A2 - Casasent, David P.

A2 - Hall, Ernest L.

PB - International Society for Optics and Photonics SPIE

T2 - Intelligent Systems and Advanced Manufacturing

Y2 - 5 October 2001 through 5 October 2001

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Sallinen M, Heikkilä T, Sirviö M. A robotic deburring system of foundry castings based on flexible workobject localization. In Casasent DP, Hall EL, editors, 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). doi: 10.1117/12.444217

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

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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