Burr Detection and Trajectory Generation for Robotic Deburring on 2DworkpieceUsing Image processing

摘要

This paper proposes a novel approach to identify burr and generate trajectory for robotic deburring.Image processing is employed to detect burr and its locationon the workpiece. A set of image processing algorithms is designed to estimate the dimensions as well as the location of the burr using 2D images of machined workpiece. The trajectory for the robot is determined using the point cloud obtained from the images. The verification of burr dimensions is done using CMM. The trajectory is verified on ABB Robot studio simulation software. The experimental result shows that the proposed approach provides an effective way for robotic deburring.