Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints

Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered low degree human-robot interaction. Therefore, to overcome issue, work develops truly synergistic cooperation between human operator and get best from both. In particular, application developed provides flexibility, guiding tool treat arbitrary regions workpiece surface; while strength, accuracy security, not only holding keeping right orientation, but also guaranteeing smooth approach confining within allowed area close workpiece. Moreover, add flexibility proposed method, when user is tool, activated perform prior established regions. Furthermore, camera network global view workspace order obtain location accurately real-time. The effectiveness shown with several experiments 6R arm.