Abstract
Manual removal of burrs on castings introduces health, safety, and environmental concerns. Automated removal of highly variable casting burrs could improve safety, but requires a solution based on robots, smart sensors, and advanced algorithms to tackle the problem in a flexible and cost-effective way. This paper presents a system for automatic tool trajectory generation for robotic deburring of cast parts with a specific focus on the robotic tool trajectory generation algorithm. The system generates a robotic trajectory adapted to the specific workpiece based on CAD model and 3D scans of the workpiece. The registered 3D scans and CAD model is used to generate a 3D model of each individual workpiece. This is fed into the tool trajectory generation algorithm. The algorithm uses the generated 3D model as well as a priori knowledge of the casting process to generate the tool trajectory. The tool trajectory planning algorithm has been tested on a set of various 3D models of cast parts, and the generated robotic tool path has been both simulated and tested on a KUKA KR 60.