Robotic Deburring of parts with Unknown Geometry

The work presented here is an approach in robotic deburring of two dimensional parts with unknown geometry. Two problems have been addressed in this paper: tracking the the part contour, and control of the metal removal process. The tracking mechanism is a roller bearing mounted on a force sensor at the robot endpoint. The tracking control employs the force measured by this force sensor to find the normal to the part surface, while the deburring algorithm uses another set of contact forces (cutting forces generated by the cutter) to develop a stable metal removal. A set of experimental results is given to verify the effectiveness of the approach.