Integrated production plant (IPP): an innovative laboratory for research projects in the footwear field
The paper describes the automation of the shoe grinding process using an industrial robot. One of the major problems of flexible automation using industrial robots is how to avoid joint limitations, singular configuration and obstacles. This problem can be solved using kinematically redundant robots. Due to the circular shape of the grinding disc, the robot becomes kinematically redundant. This task redundancy was efficiently handled using virtual mechanism approach, where the tool is described as a serial mechanism.