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“Automatic programming of grinding robot”

Authors: Trygve Thomessen, Ole J. Elle, Jon Lund Larsen, Torgrim Andersen, Jahn E. Pedersen and Terje K. Lien,
Affiliation: SINTEF
Reference: 1993, Vol 14, No 2, pp. 93-105.

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Keywords: Robotic grinding, force control, speed control, automatic contour tracking, automatic path generation

Abstract: A new programming method is developed for grinding robots. Instead of using the conventional jog-and-teach method, the workpiecc geometry is automatically scanned by a contour tracking system. During tracking of the workpiece contour, the robot position is continuously logged. Finally a robot program is automatically generated.

PDF PDF (1918 Kb)        DOI: 10.4173/mic.1993.2.4

DOI forward links to this article:
  [1] Hee-Chan Song and Jae-Bok Song (2013), doi:10.1007/s12541-013-0013-2
  [2] Are Willersrud, Fred Godtliebsen and Trygve Thomessen (1995), doi:10.4173/mic.1995.3.3
  [3] M. Jinno, M. Uenohara, J. Oaki and K. Tatsuno (1999), doi:10.1109/IROS.1999.813065
  [4] E. Villagrossi, C. Cenati, N. Pedrocchi, M. Beschi and Lorenzo Molinari Tosatti (2017), doi:10.1007/s00170-017-0232-2
  [5] Enrico Villagrossi, Nicola Pedrocchi, Manuel Beschi and Lorenzo Molinari Tosatti (2018), doi:10.1080/0951192X.2018.1447688

[1] ABELE, E., BOLEY, D. STURZ, W. (1985). Interactive programming of industrial robots, Proceedings of the 14th International Industrial Robot Symposium.
[2] DE SCUTTER, J. (1986). Compliant Robot Motion, PhD. Thesis, Katholieke Univesiteit Leuven.
[3] GODTLIBSEN, F. SPJØTVOLL, E. (1990). A Gaussian window filter, Division of Mathematical Sciences, The Norwegian Institute of Technology.
[4] HIRZINGER, G. (1982). Robot Teaching via Force-Torque Sensors, 6th European Meeting on Cybernetics and Systems Research, EMCSR 82, Vienna, 1982.
[5] SCHMID, D. (1990). Sensor simulate tools, The Industrial Robot June 1990,97-99.

  title={{Automatic programming of grinding robot}},
  author={Thomessen, Trygve and Elle, Ole J. and Lund Larsen, Jon and Andersen, Torgrim and Pedersen, Jahn E. and Lien, Terje K.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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