Precision Robotic Deburring Based on Force Control for Arbitrarily Shaped Workpiece Using CAD Model Matching
Precision Robotic Deburring Based on Force Control for Arbitrarily Shaped Workpiece Using CAD Model Matching
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DOI：
10.1007/s12541-013-0013-2
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发表时间：
2013-01-01
影响因子：
1.9
通讯作者：
Song, Jae-Bok
中科院分区：
文献类型：
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作者：
Song, Hee-Chan;Song, Jae-Bok
表面处理过程，如去毛刺是至关重要的，以确保工件的质量和人身安全，通过去除毛刺。然而，去毛刺涉及过多的噪音，灰尘和振动，这可能对人类工人有害。因此，人们对使用机器人代替人工进行去毛刺进行了广泛的研究。在机器人去毛刺中，对任意形状工件轮廓的精确跟踪是实现高精度去毛刺的关键。为了实现高精度去毛刺，提出了一种基于计算机辅助设计（CAD）模型和直接教学的刀具轨迹修正方法，同时考虑了工件的位置/方向误差。此外，在此轨迹的基础上，采用阻抗控制避免施加过大的接触力，并采用虚拟壁提高力控性能。在不知道工件的位置/方向的情况下，通过将提取的刀具轨迹与CAD模型中的教学点进行匹配，可以生成最优的去毛刺轨迹。通过基于迭代最近点（ICP）轮廓匹配算法的刀具轨迹修正方法仿真和机器人去毛刺实验，验证了该方法的有效性。
Surface finishing processes such as deburring are crucial for ensuring the quality of a workpiece and human safety by removing burrs. However, deburring involves excessive noise, dust, and vibration, which can be harmful to human workers. Thus, there has been extensive research into the use of robots to perform deburring instead of human workers. In robotic deburring, the precise tracking of the contour of an arbitrarily shaped workpiece is of major concern for precision deburring. In this study, to achieve precision deburring, a tool-path modification method based on a computer-aided design (CAD) model and direct teaching is proposed taking into consideration the position/orientation errors of the workpiece. In addition, based on this trajectory, impedance control is used to avoid applying an excessive contact force and a virtual wall is adopted to improve the force-control performance. Without knowing the position/orientation of the workpiece, the optimal deburring trajectory can be generated by matching the extracted tool path from the CAD model to the teaching points. From the simulations of the tool path modification method using an iterative closest point (ICP)-based contour matching algorithm and a series of experiments on robotic deburring, the performance of the proposed method was verified.