Development of a robot system for complex surfaces polishing based on CL data

被引:60
作者
Lin, FY [1 ]
Lü, TS [1 ]
机构
[1] Shanghai Jiao Tong Univ, Sch Mech Engn, Shanghai 200030, Peoples R China
关键词
cutter location data; quaternion interpolation; robotic polishing;
D O I
10.1007/s00170-004-2088-5
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In most cases, polishing work is done by manual labour. It is an extremely laborious operation that demands a lot of time, so it is very expensive. In this paper, instead of manual polishing work, a robotic polishing system is introduced. A trajectory generator needed for generating the robot polishing path is taken from the cutter location data generated from the postprocessor of a CAD system. Using the trajectory generator, the present polishing robot doesn't need the conventional complicated teaching process. In order to improve the quality of a workpiece surface, a quaternion interpolation algorithm (QI algorithm) between two CL data is also proposed, which can realize the smooth interpolation of robot end-effector positions and orientation. The effectiveness of the proposed polishing method is proven through polishing experiments using an industrial robot, Motoman sv3, and a Motoman XRC Industrial controller.
引用
收藏
页码:1132 / 1137
页数:6
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