Programming Deburring Robots Based on Human Demonstration with Direct Burr Size Measurement

  title={Programming Deburring Robots Based on Human Demonstration with Direct Burr Size Measurement},
  author={Ken-ichiro Shimokura and Sheng Liu},
This paper discusses a new method for teaching a deburring robot based on demonstration of human skillful motion. The robot is progmmmed to adjust the tool feedmte in accordance with the varying burr characteriatics, such as burr size and material properties. This dynamic change of tool feedrate is motivated by the efective human skill in performing a deburring task. The relationship between the tool feedrate and burr characteristics is obtained from human demonstration data and stored in a… CONTINUE READING
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