Journal article
An Automated Planning, Control, and Inspection System for Robotic Deburring
Abstract
This paper describes a system for the automated planning, control and inspection of robotic edge deburring. The task planner uses an object-oriented distributed artificial intelligence approach along with computer-aided design models to plan a collision-free path. The path is adjusted online to maintain the desired chamfer depth of cut using a high-bandwidth active end effector. The control system incorporates: a) sensor fusion of force and …
Authors
Elbestawi MA; Bone GM; Tern PW
Journal
CIRP Annals, Vol. 41, No. 1, pp. 397–401
Publisher
Elsevier
Publication Date
1992
DOI
10.1016/s0007-8506(07)61230-x
ISSN
0007-8506