A Robotic grinding station based on an industrial manipulator and vision system.

ABSTRACT: Due to ever increasing precision and automation demands in robotic grinding, the automatic and robust robotic grinding workstation has become a research hot-spot. This work proposes a grinding workstation constituting of machine vision and an industrial manipulator to solve the difficulty of positioning rough metal cast objects and automatic grinding. Faced with the complex characteristics of industrial environment, such as weak contrast, light nonuniformity and scarcity, a coarse-to-fine two-step localization strategy was used for obtaining the object position. The deep neural network and template matching method were employed for determining the object position precisely in the presence of ambient light. Subsequently, edge extraction and contour fitting techniques were used to measure th

SUBMITTER: Wan G 

PROVIDER: S-EPMC7990196 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature