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Optical Engineering • Open Access

Coordinate transformation of an industrial robot and its application in deterministic optical polishing
Author(s): Wei Wang; Guoyu Yu; Min Xu; David Walker

Paper Abstract

An IRB6620 industrial robot from ABB Co. Ltd. (Zurich, Switzerland) is used as a processing platform for optical processing, and computer-controlled optical surfacing is applied as a key technology. The function of each coordinate system of the robot in processing is reviewed, as well as the relationship of each coordinate system and coordinate transformation. An algorithm governing coordinate transformations is provided. In order to assess the functionality of the robot as a polishing instrument, experiments have been designed so that the removal rate and surface form error correction of the robot facility have been compared with those from established computer numerical control polishing. The importance for the application of industrial robot in optical processing is also presented.

Paper Details

Date Published: 5 May 2014
PDF: 6 pages
Opt. Eng. 53(5) 055102 doi: 10.1117/1.OE.53.5.055102
Published in: Optical Engineering Volume 53, Issue 5
Show Author Affiliations
Wei Wang, Fudan Univ. (China)
Shanghai Ultra-precision Optical Manufacturing Engineering Ctr. (China)
Guoyu Yu, National Facility for Ultra Precision Surfaces (United Kingdom)
Min Xu, Fudan Univ. (China)
Shanghai Ultra-precision Optical Manufacturing Engineering Ctr.r (China)
David Walker, National Facility for Ultra Precision Surfaces (United Kingdom)
Univ. College London (United Kingdom)
Zeeko Ltd. (United Kingdom)


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