Retraction Free Motion Approach and Its Application in Automated Robotic Edge Finishing and Inspection Processes

Date

2016-12-15

Author

Nemer, Mahmoud
Konukseven, Erhan İlhan

Metadata

Show full item record

Item Usage Stats

109
views

0
downloads

In this paper, a motion generation algorithm for a six Degrees of Freedom (DoF) robotic hand in a static environment is presented. The purpose of developing this method is to be used in the path generation of the end-effector for edge finishing and inspection processes by utilizing the CAD model of the considered workpiece. Nonetheless, the proposed algorithm may be extended to be applicable for other similar manufacturing processes. A software package programmed in the application programming interface (API) of SolidWorks generates tool path data for the robot. The proposed method significantly simplifies the given problem, resulting in a reduction in the CPU time needed to generate the path, and offers an efficient overall solution. The ABB IRB2000 robot is chosen for executing the generated tool path.

Subject Keywords

Offline programming, CAD-based tools, Edge deburring, Edge scanning, Path generation

URI

2016 waset.org/Publication/10006042
https://hdl.handle.net/11511/82201
https://publications.waset.org/10006042/retraction-free-motion-approach-and-its-application-in-automated-robotic-edge-finishing-and-inspection-processes

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Off-line nominal path generation of 6-DoF robotic manipulator for edge finishing and inspection processes Nemer, Mahmoud; Konukseven, Erhan İlhan (Springer Science and Business Media LLC, 2018-10-01) This paper deals with the development of a Computer-Aided Robotic Machining Process Planning package based on SolidWorks. The main aim of the package is to generate an efficient, collision-free, nominal tool path needed for edge finishing and inspection by utilizing a 6-DoF robotic arm. The overall nominal tool path involves analyzing the geometry of the workpiece, determining and designing an efficient collision-free tool path and finally generating the tool path data for the robot and verifying it. This p...
Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles Cicibas, Halil; Demir, Kadir Alpaslan; ARICA, NAFİZ (2016-11-01) This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on int...
Spatial control of a smart beam Kircali, Omer Faruk; Yaman, Yavuz; Nalbantoglu, Volkan; Şahin, Melin; Karadal, Fatih Mutlu; Ulker, Fatma Demet (2008-08-01) This study presents the design and implementation of a spatial H(infinity) controller for the active vibration control of a smart beam. The smart beam was modeled by assumed-modes method that results in a model including large number of resonant modes. The order of the model was reduced by direct model truncation and the model correction technique was applied to compensate the effect of the contribution of the out of range modes to the dynamics of the system. Additionally, spatial identification of the beam...
Moving hot object detection in airborne thermal videos Kaba, Utku; Akar, Gözde; Department of Electrical and Electronics Engineering (2012) In this thesis, we present an algorithm for vision based detection of moving objects observed by IR sensors on a moving platform. In addition we analyze the performance of different approaches in each step of the algorithm. The proposed algorithm is composed of preprocessing, feature detection, feature matching, homography estimation and difference image analysis steps. First, a global motion estimation based on planar homography model is performed in order to compensate the motion of the sensor and moving ...
3D Shape Correspondence by Isometry Driven Greedy Optimization Sahillioğlu, Yusuf (null; 2010-06-01) We present an automatic method that establishes 3D correspondence between isometric shapes. Our goal is to find an optimal correspondence between two given (nearly) isometric shapes, that minimizes the amount of deviation from isometry. We cast the problem as a complete surface correspondence problem. Our method first divides the given shapes to be matched into surface patches of equal area and then seeks for a mapping between the patch centers which we refer to as base vertices. Hence the correspondence is...

Citation Formats

M. Nemer and E. İ. Konukseven, “Retraction Free Motion Approach and Its Application in Automated Robotic Edge Finishing and Inspection Processes,” 2016, vol. 10, Accessed: 00, 2021. [Online]. Available: 2016 waset.org/Publication/10006042.