publication . Article . 1995

Automatic programming of grinding robot restoration of contours

Are Willersrud; Fred Godtliebsen; Trygve Thomessen;
Open Access English
  • Published: 01 Jul 1995 Journal: Modeling, Identification and Control, volume 16, issue 3, pages 145-154 (issn: 0332-7353, eissn: 1890-1328, Copyright policy)
  • Publisher: Norwegian Society of Automatic Control
Abstract
A new programming method has been developed for grinding robots. Instead of using the conventional jog-and-teach method, the workpiece contour is automatically tracked by the robot. During the tracking, the robot position is stored in the robot control system every 8th millisecond. After filtering and reducing this contour data, a robot program is automatically generated. The contour data contain different types of noise due to small vibrations and overshoot when the robot is tracking the workpiece. To remove the noise, a new filtering algorithm is proposed. The Look Ahead filter removes outliers from the data. After that, the data is smoothed by the Nadaraya-Wa...
Persistent Identifiers
Subjects
free text keywords: Filtering, robot, grinding, Control and Systems Engineering, Modelling and Simulation, Software, Computer Science Applications, lcsh:Electronic computers. Computer science, lcsh:QA75.5-76.95, Automatic programming, Robotics, Computer vision, Artificial intelligence, business.industry, business, Overshoot (signal), Industrial robot, law.invention, law, Filter (signal processing), Robot calibration, Engineering, Monte Carlo localization
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