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Force Controlled Knife-Grinding with Industrial Robot

Sörnmo, Olof LU ; Robertsson, Anders LU and Wanner, Anders (2012) 2012 IEEE Multi-Conference on Systems and Control In [Host publication title missing] 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
[Host publication title missing]
pages
6 pages
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
2012 IEEE Multi-Conference on Systems and Control
external identifiers
  • wos:000320336200184
  • scopus:84873124948
ISSN
1085-1992
language
English
LU publication?
yes
id
0074104e-6bf4-4fc3-bc34-aa7e7955776c (old id 2836088)
date added to LUP
2012-06-27 09:15:54
date last changed
2017-01-01 05:35:33
@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    = {[Host publication title missing]},
  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},
  year         = {2012},
}