Force Controlled Knife-Grinding with Industrial Robot
(2012) 2012 IEEE Multi-Conference on Systems and Control p.1356-1361- Abstract
- This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels.
The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to... (More) - This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels.
The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to that achieved manually. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/2836088
- author
- Sörnmo, Olof LU ; Robertsson, Anders LU and Wanner, Anders
- organization
- publishing date
- 2012
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2012 IEEE Multi-Conference on Systems and Control
- pages
- 6 pages
- publisher
- IEEE - Institute of Electrical and Electronics Engineers Inc.
- conference name
- 2012 IEEE Multi-Conference on Systems and Control
- conference location
- Dubrovnik, Croatia
- conference dates
- 2012-10-03
- external identifiers
-
- wos:000320336200184
- scopus:84873124948
- ISSN
- 1085-1992
- project
- ProFlexa
- language
- English
- LU publication?
- yes
- additional info
- project=proflexa
- id
- 0074104e-6bf4-4fc3-bc34-aa7e7955776c (old id 2836088)
- date added to LUP
- 2016-04-01 13:18:11
- date last changed
- 2024-01-09 11:33:10
@inproceedings{0074104e-6bf4-4fc3-bc34-aa7e7955776c, abstract = {{This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife, following the path defined by the earlier identified shape, while applying the desired contact force to the revolving grinding wheels.<br/><br> The experimental results show that the knives can be sharpened satisfactorily. An industrial application has also been developed and tested, and it has produced a sharpening quality equal or greater to that achieved manually.}}, author = {{Sörnmo, Olof and Robertsson, Anders and Wanner, Anders}}, booktitle = {{2012 IEEE Multi-Conference on Systems and Control}}, issn = {{1085-1992}}, language = {{eng}}, pages = {{1356--1361}}, publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}}, title = {{Force Controlled Knife-Grinding with Industrial Robot}}, url = {{https://lup.lub.lu.se/search/files/3290016/3127495.pdf}}, year = {{2012}}, }