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An Automated Planning, Control, and Inspection System for Robotic Deburring

Authors
Journal
CIRP Annals - Manufacturing Technology
0007-8506
Publisher
Elsevier
Publication Date
Volume
41
Issue
1
Identifiers
DOI: 10.1016/s0007-8506(07)61230-x
Keywords
  • Robots
  • Deburring
  • Adaptive Control
Disciplines
  • Computer Science
  • Design

Abstract

Summary This paper describes a system for the automated planning, control and inspection of robotic edge deburring. The task planner uses an object-oriented distributed artificial intelligence approach along with computer-aided design models to plan a collision-free path. The path is adjusted online to maintain the desired chamfer depth of cut using a high-bandwidth active end effector. The control system incorporates: a) sensor fusion of force and vision data, b) parameter adaptive predictive control, and c) learning control. Task completion is verified through in-process inspection of the chamfered edges. Simulation as well as experimental results are presented.

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