Towards Autonomous Robot Machining

Inhalt:
This paper presents the design of a robotic machining system, developed to face the requirement of high flexibility in milling and deburring operations in small batch production. By using a flexibile programming concept, based on robot force control and changing feed speed, we allow autonomous adaption of paths along the workpiece contour and process a milling operation accordingly. We take into account that gripped parts might be misaligned and present a correction algorithm from laser distance measurements.