Towards Autonomous Robot Machining
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Domroes, Frank; Rieger, Michael; Kuhlenkoetter, Bernd (TU Dortmund University, Germany)
Abstract:
This paper presents the design of a robotic machining system, developed to face the requirement of high flexibility in milling and deburring operations in small batch production. By using a flexibile programming concept, based on robot force control and changing feed speed, we allow autonomous adaption of paths along the workpiece contour and process a milling operation accordingly. We take into account that gripped parts might be misaligned and present a correction algorithm from laser distance measurements.