<title>Robotic deburring system of foundry castings based on flexible workobject localization</title>

Abstract

This paper presents methods to improve flexibility and accuracy of deburring of castings. We apply several methods including off-line programming of the deburring paths, accurate localization of the work object, surface measuring of the work object and a force-guided motion control during the deburring task. The eye-in-hand calibration as well as the localization of the work object we carry out using the Bayesian-form estimation method with recursive sensor fusion. As a result from the work object localization we obtain a 3 DOF location increment (position difference between the simulation model and actual workcell) and actual deburring paths are corrected using that increment. The simulation phase includes octree-based collision check and the faceting uses octree principle too. The paper includes results from actual tests which are promising. The methods are designed to be easy-to-implement in any industrial robot.