Proceedings of the 2010 International Conference on Mechanical, Industrial, and Manufacturing Technologies (MIMT 2010)
38 Automated Robotic Polishing Using a Direct Teaching and Playback Method
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This paper proposes a method of enabling direct teaching and playback, data simplification employing Douglas-Peucker algorithm (DPA), and the repulsive direction vector for reducing the errors between the reference and teaching data. This upcoming technique associated with human-robot cooperation is introduced as a concept of an automated robotic polishing system. By virtue of this robotic challenge, dependency on labor-saving efforts put automation in the cutting edge of devices for surface finishing processes such as polishing. Realizing the proposed algorithm, the optimal teaching point generation algorithm for the robotic polishing process is presented through the experiments.