Now showing 1 - 2 of 2
  • Publication
    Sensor-guided fettling with robots
    ( 1989)
    Lennartz, K.D.
    ;
    Hsieh, L.-H.
    ;
    Seliger, G.
    Automation of fettling requires in most cases the compensation of tolerances. Tolerances of castings, which are too large to be compensated by passive compliance, must be compensated by means of sensory acquisition of deviations and adaptive control. A prototype robotic fettling cell using different sensor systems for this purpose is achieved at the IPK. In this prototype installation tolerances of the parts are measured before the cutting process, deviations of the burr positions and dimension are thus determined. According to the difference between the programmed and the real geometry the cutting trajectory is adapted. In addition to that signales from motor current sensors are used for feed speed control during the cutting process.
  • Publication
    Automated path generation for sensor-guided deburring
    ( 1989)
    Hsieh, L.-H.
    ;
    Lennartz, K.D.
    ;
    Yi, H.-C.
    ;
    Seliger, G.
    This paper discusses the application of sensors to automatically identify the burrs on castings and to plan the robot trajectories for cutting operations. Alternative methods to sensor approach are reviewed and the reasons for using sensors in this task are explained. The prerequisites of an automated path generation are investigated. A realized system using laser-scanner as sensor head and a commercial robot as movement unit is described. Based on this configuration sofware modules for deburring of castings have been developed.