Automation of deburring process using vision sensor and TSK fuzzy model

비젼 센서와 TSK형 퍼지를 이용한 디버링 공정의 자동화

In this paper, we present a new approach for the automation of deburring process. An algorithm for teaching skills of a human expert to a robot manipulator is developed. This approach makes use of TSK fuzzy mode that can wxpress a highly nonlinear functional relation with small number of rules. Burr features such as height, width, area, grinding area are extracted from image processing by use of the vision system. Grinding depth, repetitive number and normal grinding force are chosen as control signals representing actions of the human expert. It is verified that our proposed fuzzy model can accurately express the skills of human experts for the deburring process.