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- W2079668096 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.© (2001) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only." @default.
- W2079668096 created "2016-06-24" @default.
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- W2079668096 date "2001-10-05" @default.
- W2079668096 modified "2023-09-23" @default.
- W2079668096 title "<title>Robotic deburring system of foundry castings based on flexible workobject localization</title>" @default.
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- W2079668096 doi "https://doi.org/10.1117/12.444217" @default.
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