TY - GEN
T1 - Tool path generation based on matching between teaching points and CAD model for robotic deburring
AU - Song, Hee Chan
AU - Kim, Byeong Sang
AU - Song, Jae Bok
PY - 2012
Y1 - 2012
N2 - Deburring is a machining process which involves much noise, vibration and dust, so it can be harmful to workers. Therefore, much research has been done to use a manipulator to perform deburring instead of human workers. The precise tracking of the contour of an arbitrary-shaped part is of major concern in robotic deburring. In this study, a tool path generation method based on the CAD model and the direct teaching method is proposed to minimize the position and orientation errors of the workpieces. Without knowledge of the position and orientation of the workpiece, which is often hard to obtain, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. Furthermore, impedance control is used to avoid applying excessive contact force. From a series of experiments on robotic deburring, the performance of the proposed algorithm is verified.
AB - Deburring is a machining process which involves much noise, vibration and dust, so it can be harmful to workers. Therefore, much research has been done to use a manipulator to perform deburring instead of human workers. The precise tracking of the contour of an arbitrary-shaped part is of major concern in robotic deburring. In this study, a tool path generation method based on the CAD model and the direct teaching method is proposed to minimize the position and orientation errors of the workpieces. Without knowledge of the position and orientation of the workpiece, which is often hard to obtain, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. Furthermore, impedance control is used to avoid applying excessive contact force. From a series of experiments on robotic deburring, the performance of the proposed algorithm is verified.
UR - http://www.scopus.com/inward/record.url?scp=84866900334&partnerID=8YFLogxK
U2 - 10.1109/AIM.2012.6265921
DO - 10.1109/AIM.2012.6265921
M3 - Conference contribution
AN - SCOPUS:84866900334
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 890
EP - 895
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -