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Proceedings Paper

Robotic deburring system of foundry castings based on flexible workobject localization
Author(s): Mikko Sallinen; Tapio A. Heikkila; Matti Sirvio
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Paper 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 work object, surface measuring of the work object and a force-guided motion control during the deburring task. The eye-in-hand calibration as well as the localization of the work object we carry out using the Bayesian-form estimation method with recursive sensor fusion. As a result from the work object 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.

Paper Details

Date Published: 5 October 2001
PDF: 12 pages
Proc. SPIE 4572, Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision, (5 October 2001); doi: 10.1117/12.444217
Show Author Affiliations
Mikko Sallinen, VTT Automation (Finland)
Tapio A. Heikkila, Univ. of Oulu (Finland)
Matti Sirvio, VTT Chemical Technology (Finland)


Published in SPIE Proceedings Vol. 4572:
Intelligent Robots and Computer Vision XX: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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