Sensor-aided programming and movement. Adaptation for robot-guided deburring of castings

Automatically identifying burrs and planning robot trajectories for respective castings, geometrical and technological adaptation parallel to the process are tasks to be solved for flexible deburring automation. Conditions of access and collision as well as different technologies e.g. milling, grinding or brushing must be considered for process design. A universal process modell based on a frame concept with homogeneous transformation matrices has been applied for implementation on a microcomputer thus coupling robot control and sensorial devices. The paper describes a prototypical realization of deburring operations in a robot cell. Evaluation criteria for different technological approaches are given.