Abstract
Normal trajectory plays a vital role to enhance the quality of robotic- based surface finishing. This paper presents a novel and robust solution for real- time robot (manipulator) pose correction employing a 6-axis force sensor. The proposed scheme enables the robot to automatically correct postures in real-time on the curved surface. This approach does not depend on any prior geometric information of the workpieces, such as a CAD model or a 3D point cloud. The system depends only on the feedback data of a 6-axis force/torque sensor, positioned between the robot flange and a tool. The pose adjustment algorithm determines the normal relationship between the contact tool and the workpiece’s surface using the feedback information from the sensor. The experimental results show that the proposed study has great potential to automate surface finishing operations such as robotic-based polishing, particularly on challenging curved surfaces.
Original language | English |
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Title of host publication | Proceedings of the 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development (MMMS2022) - Volume 3 |
Subtitle of host publication | Sustainable Approaches in Machine Design, Life Cycle Engineering, and Energy Management for Manufacturing Processes |
Editors | Banh Tien Long, Kozo Ishizaki, Hyung Sun Kim, Yun-Hae Kim, Nguyen Duc Toan, Nguyen Thi Hong Minh, Pham Duc An |
Publisher | Springer Science and Business Media Deutschland GmbH |
Pages | 489-496 |
Number of pages | 8 |
ISBN (Print) | 9783031574597 |
DOIs | |
State | Published - 2024 |
Externally published | Yes |
Event | 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2022 - Can Tho, Viet Nam Duration: 10 Nov 2022 → 13 Nov 2022 |
Publication series
Name | Lecture Notes in Mechanical Engineering |
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ISSN (Print) | 2195-4356 |
ISSN (Electronic) | 2195-4364 |
Conference
Conference | 3rd Annual International Conference on Material, Machines and Methods for Sustainable Development, MMMS 2022 |
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Country/Territory | Viet Nam |
City | Can Tho |
Period | 10/11/22 → 13/11/22 |
Bibliographical note
Publisher Copyright:© The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.
Keywords
- Complex surface
- Force/torque sensor
- Normal estimation
ASJC Scopus subject areas
- Automotive Engineering
- Aerospace Engineering
- Mechanical Engineering
- Fluid Flow and Transfer Processes