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http://dx.doi.org/10.7471/ikeee.2019.23.4.1387

Path Planning and Control of an Articulated Robot for Polishing Large Aspherical Surface  

Kim, Ji-Su (ColubrisMX Korea)
Lee, Won-Chang (Dept. of Electronic Engineering, Pukyong National University)
Publication Information
Journal of IKEEE / v.23, no.4, 2019 , pp. 1387-1392 More about this Journal
Abstract
Aspherical mirrors have lighter weight and better performance than spherical mirrors, but it is difficult to process their shape and measure the processing precision. Especially, large aperture aspherical mirrors mounted on satellites need high processing precision and long processing time. The computerized numerically controlled machine of gantry type has been used in polishing process, but it has difficulties in processing the complex shapes due to the lack of degrees of freedom. In order to overcome this problem we developed a polishing system using an articulated industrial robot. The system consists of tool path generating program, real-time robot monitoring, and control program. We show the performance of the developed system through the computer simulation and actual robot operation.
Keywords
aspherical mirror; precision; polishing system; articulated robot; tool path;
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