Deburring of Irregular Burr using Vision and Force Sensors

비젼과 힘센서를 이용한 불균일 버의 디버링 가공

This paper presents an efficient control algorithm that removes irregular burrs using vision and force sensors. In automated robotic deburring, the reference force should be accommodated to the profile of burrs in order to prevent the tool breakage. In this paper, (1) The profile of burrs is recognized by vision sensor and followed by the calculation of reference force, (2) Deburring expert's skill is transferred to robot. Finally, the performance of robot is evaluated through simulation and experiment.