Robotic Surface Finishing for Custom Manufacturing
Unlike mass manufacturing, in which goods are produced in high volumes with relatively non-changing manufacturing processes, custom manufacturing needs to overcome frequent process changes to deliver different products. These changes create multiple challenges such as cell design and reprogramming for implementing robotics into custom manufacturing scenarios. This project addresses the challenges of using industrial robots in the surface finishing processes of custom-manufactured goods.
Surface finishing for custom-manufactured products currently relies on high-skilled human operators to achieve the required level of position and force accuracy for the desired outcome. We aim to create tools for easing the integration of industrial robots into custom surface finishing operations while combining the knowledge of the human operator and the physical capabilities of the industrial robots.
Project Outcomes
- A method for placing custom workpieces with respect to the industrial robots to optimize robot joint configurations, which have an effect on the quality of surface finishing processes.
- A force controller that ensures the entire surface of a workpiece is covered with the right amount of force by taking tool and workpiece geometries into account.
- A Human-Robot Interaction (HRI) interface which will enable a human operator and a robotic system to complete a surface finishing task collaboratively.
Publications
B. Balci, J. Donovan, J. Roberts, and P. Corke, “Optimal Workpiece Placement Based on Robot Reach, Manipulability and Joint Torques,” 2023 IEEE International Conference on Robotics and Automation (ICRA). IEEE, May 29, 2023.
Image: icra_setup.png
Document: https://doi.org/10.1109/ICRA48891.2023.10161031
B. Balci, J. Roberts, J. Donovan, and P. Corke, “Force Controlled Robotic Surface Finishing with Variable Tool Centre Point (TCP),” 2023 IEEE International Conference on Automation Science and Engineering (CASE). Accepted, May 25, 2023.
Video: CASE23.mov
Document: Will be available soon!