未知几何形状二维零件的机器人去毛刺

H. Kazerooni, M. Her
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引用次数: 12

摘要

研究了机器人去毛刺中的两个问题:平面二维零件轮廓的跟踪和金属去除过程的控制。跟踪机构是安装在机器人末端力传感器上的滚子轴承。跟踪控制器利用该力传感器测量的力来找到零件表面的法向量。利用零件轮廓信息,机器人沿零件边缘移动。该金属去除算法利用另一组接触力,即刀具产生的切削力,来制定稳定的金属去除。该算法为机器人沿零件边缘生成电子柔度。当刀具遇到毛刺时,这种电子顺应性使机器人减速。一组实验结果验证了该方法的有效性
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robotic deburring of two dimensional parts with unknown geometry
Two of the problems in robotic deburring are addressed: tracking the planar two-dimensional part contour and control of the metal removal process. The tracking mechanism is a roller bearing mounted on a force sensor at the robot endpoint. The tracking controller utilizes the force measured by this force sensor to find the normal vector to the part surface. Using the part contour information the robot travels along the edge of the part. The metal removal algorithm uses another set of contact forces, cutting forces generated by the cutter, to develop a stable metal removal. This algorithm generates electronic compliancy for the robot along the edge of the part. This electronic compliancy causes the robot to slow down when the cutter encounters a burr. A set of experimental results is given to verify the effectiveness of the approach.<>
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