Robotic Surface Finishing of Curved Surfaces: Real-Time Identification of Surface Profile and Control

Yalun Wen, Prabhakar R. Pagilla
2018 Volume 3: Manufacturing Equipment and Systems   unpublished
This thesis introduces a complete design framework for robotic surface finishing of curved surfaces. The system setup is subdivided into three key components: Real-time surface registration is accomplished by employing a proximity laser sensor mounted on the robot end-effector. The proximity sensor measurements coupled with the robot kinematics is employed to derive the coordinates of the projection points. The entire set of projection points is combined to form a grid upon which the surface
more » ... mal and its normal profile are reconstructed. This surface normal profile description allows us to generate trajectories for both motion and force control. The trajectory
doi:10.1115/msec2018-6659 fatcat:wyhinurejbegtmvviehbmmns2i