Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor

1193 Ogledov
932 Prenosov
Izvoz citacije: ABNT
KOSLER, Hubert ;PAVLOVČIČ, Urban ;JEZERŠEK, Matija ;MOŽINA, Janez .
Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 62, n.4, p. 207-212, june 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/>. Date accessed: 27 jan. 2021. 
doi:http://dx.doi.org/10.5545/sv-jme.2015.3227.
Kosler, H., Pavlovčič, U., Jezeršek, M., & Možina, J.
(2016).
Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor.
Strojniški vestnik - Journal of Mechanical Engineering, 62(4), 207-212.
doi:http://dx.doi.org/10.5545/sv-jme.2015.3227
@article{sv-jmesv-jme.2015.3227,
	author = {Hubert  Kosler and Urban  Pavlovčič and Matija  Jezeršek and Janez  Možina},
	title = {Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {4},
	year = {2016},
	keywords = {adaptive robotic machining; deburring; laser triangulation; position error correction; localization},
	abstract = {A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece’s surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece.},
	issn = {0039-2480},	pages = {207-212},	doi = {10.5545/sv-jme.2015.3227},
	url = {https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/}
}
Kosler, H.,Pavlovčič, U.,Jezeršek, M.,Možina, J.
2016 June 62. Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 62:4
%A Kosler, Hubert 
%A Pavlovčič, Urban 
%A Jezeršek, Matija 
%A Možina, Janez 
%D 2016
%T Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor
%B 2016
%9 adaptive robotic machining; deburring; laser triangulation; position error correction; localization
%! Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor
%K adaptive robotic machining; deburring; laser triangulation; position error correction; localization
%X A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece’s surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece.
%U https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/
%0 Journal Article
%R 10.5545/sv-jme.2015.3227
%& 207
%P 6
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 62
%N 4
%@ 0039-2480
%8 2018-06-27
%7 2018-06-27
Kosler, Hubert, Urban  Pavlovčič, Matija  Jezeršek, & Janez  Možina.
"Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor." Strojniški vestnik - Journal of Mechanical Engineering [Online], 62.4 (2016): 207-212. Web.  27 Jan. 2021
TY  - JOUR
AU  - Kosler, Hubert 
AU  - Pavlovčič, Urban 
AU  - Jezeršek, Matija 
AU  - Možina, Janez 
PY  - 2016
TI  - Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.3227
KW  - adaptive robotic machining; deburring; laser triangulation; position error correction; localization
N2  - A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece’s surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece.
UR  - https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/
@article{{sv-jme}{sv-jme.2015.3227},
	author = {Kosler, H., Pavlovčič, U., Jezeršek, M., Možina, J.},
	title = {Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {62},
	number = {4},
	year = {2016},
	doi = {10.5545/sv-jme.2015.3227},
	url = {https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/}
}
TY  - JOUR
AU  - Kosler, Hubert 
AU  - Pavlovčič, Urban 
AU  - Jezeršek, Matija 
AU  - Možina, Janez 
PY  - 2018/06/27
TI  - Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 62, No 4 (2016): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2015.3227
KW  - adaptive robotic machining, deburring, laser triangulation, position error correction, localization
N2  - A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece’s surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece.
UR  - https://www.sv-jme.eu/sl/article/adaptive-robotic-deburring-of-die-cast-parts-with-position-and-orientation-measurements-using-a-3d-laser-triangulation-sensor/
Kosler, Hubert, Pavlovčič, Urban, Jezeršek, Matija, AND Možina, Janez.
"Adaptive Robotic Deburring of Die-Cast Parts with Position and Orientation Measurements Using a 3D Laser-Triangulation Sensor" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 62 Number 4 (27 June 2018)

Avtorji

Inštitucije

  • Yaskawa Motoman, Slovenia 1
  • University of Ljubljana, Faculty of Mechanical Engineering Slovenia 2

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 62(2016)4, 207-212

https://doi.org/10.5545/sv-jme.2015.3227

A system for adaptive robotic deburring with a correction of the errors in workpiece positioning is presented. The correction is based on 3D measurements of the workpiece’s surface and its registration to the target surface, measured on a reference workpiece. The surface measurement is performed with a laser-triangulation profilometer. The reference tool path is determined using robot teaching on the reference, already deburred, workpiece. The positioning errors of the currently processed workpiece are compensated by tool path adaptation in accordance with the registration results by means of rotation and translation. The experiments showed that the average precision of localization is 0.06 mm and the average bias between the true and measured values is 0.23 mm. The developed adaptive system is also applicable in other similar applications where it is difficult to ensure repeatable clamping of the workpiece.

adaptive robotic machining; deburring; laser triangulation; position error correction; localization