Abstract
A robotic cell for deburring planar polygonal objects is described. The object comes from a conveyor and arrives in a random position on a parallel manipulator. Its center of mass is located through the measurements of a 6-componants force sensor, it is then grasped and a force-feedback scheme is used to fix the object on a special plate. Then a probing algorithm is used to discover the location of the vertices of the object with a minimal number of measurements. The coordinates of the vertices are then used to build an ideal reference model of the object which is fed to a force-feedback scheme which perform the deburring of the object.
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© 1994 Springer-Verlag London Limited
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Merlet, J.P., Mouly, N., Borrelly, J.J., Itey, P. (1994). A robotic cell for deburring of polygonal objects. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027591
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DOI: https://doi.org/10.1007/BFb0027591
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Print ISBN: 978-3-540-19905-2
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