Videooptical Surface Shape and Integrity Estimation in Robots Machining

Abstract

Paper shows system to surface shape and quality control in machining using industrial robot. To surface control videooptical methods were used. Surface shape was controlled using the special reverse engineering system. To surface roughness measure machined surface reflectivity method was used. Used own constructions non contact system was equipped with red laser light and USB camera. Wrist of robot was equipped with grinding tool. In paper shows some algorithms of presented processes. Shown too examples of experiments results in surface roughness measure in start end of grinding process. First trials of presented system shows possibility to build smart machining system for finishing of surface with unknown shape.