Model Driven Vision To Control A Surface Finishing Robot

D Graham; S A Jenkins; J R Woodwark

doi:10.1117/12.939220

16 February 1984 Model Driven Vision To Control A Surface Finishing Robot

D Graham, S A Jenkins, J R Woodwark

Proceedings Volume 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls; (1984) https://doi.org/10.1117/12.939220
Event: 1983 Cambridge Symposium, 1983, Cambridge, United States

Abstract

Surface finishing operations carried out on castings are difficult to automate. This is partly due to the irregular and random nature of defects. Optimal application of robot finishing techniques therefore requires in-process surface condition information in order to implement an adaptive control strategy. This paper describes a robotic device which incorporates a model based machine vision inspection system to identify and to locate defective surface areas. Viewing arrangements are preplanned from the component surface model and a knowledge of the robot kinematics. The model assists in the interpretation of image data which provides information for the overall adaptive control of the abrasion process.

Citation Download Citation

D Graham, S A Jenkins, and J R Woodwark "Model Driven Vision To Control A Surface Finishing Robot", Proc. SPIE 0449, Intelligent Robots: 3rd Intl Conf on Robot Vision and Sensory Controls, (16 February 1984); https://doi.org/10.1117/12.939220

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