Sensor-Aided Programming and Movement Adaptation for Robot-Guided Deburring of Castings

作     者：Seliger, G. Hsieh, L.-H. Spur, G. 

出 版 物：《CIRP Annals - Manufacturing Technology》 (CIRP Ann Manuf Technol)

年 卷 期：1991年第40卷第1期

页      面：487-490页

学科分类：0817[工学-化学工程与技术] 08[工学] 0807[工学-动力工程及工程热物理] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Research Foundation DFG 

主　　题：Cutting Deburring and Cast Cleaning Path Planning and Adaptation Process Modelling Sensor Guided Robots Sensorial Burr Detection 

摘      要：Automatically identifying burrs and planning robot trajectories for restive castings, geometrical and technological adaptation parallel to the process are tasks to be solved for flexible deburring automation. Conditions of access and collision as well as different technologies e.g. milling grinding or brushing must be considered for process design. A universal process modell based on a frame concept with homogeneous transformation matrices has been applied for implementation on a microcomputer thus coupling robot control and sensorial devices. The paper describes a prototypical realization of deburring operations in a robot cell. Evaluation criteria for different technological approaches are given. © 1991 CIRP.