Automated path generation for sensor-guided deburring

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.