Robotic Deburring Task Design Based on the Nature of Burr

Abstract

In this paper, we propose the concept of robotic task design based on the nature of burr that it is formed within the constraint plane called parting palne. The deburring task is designed to use this constraint as a task guide. This system design consists of the following steps: (1) Robotic Task Design, (2) Teaching (Programming) and (3) Task Execution. These have equal importance instead of over emphasizing the task execution system. The designed robotic task system is implemented on a robotic task execution controller called NOAC. The main concept in the structure of NOAC is to separate function (1) which is commonly needed by every task in the task class and function (2) which is a task-oriented function. This system is shown to be simple and expandable to other tasks such as tool manipulation.