Sensing and control for automated robotic edge deburring

This paper describes the sensing and control elements of a system for automated robotic edge deburring. The deburring path, automatically generated bp a task planner, is corrected on-line by an active end effector with the objective of controlling the chamfer depth. The sensing system combines the information from force and vision sensors during deburring to provide an improved depth measurement. The vision sensor is then used to verify the …