Generating cutter location source data using a depth sensor and stereolithography

Fusaomi Nagata, Kazuhiro Takeshita, Norifumi Horie, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A removal machining robot was already developed for foamed polystyrene materials. The proposed robotic CAM system provided an interface without using any robot languages between operators and the machining robot, so that a teaching-less operation could be realized. In this paper, a preprocessor with a depth sensor for converting stereolithography data (STL data) into cutter location source data (CLS data) is first proposed for smart robotic removal machining. Due to the preprocessor, no commercially provided CAM system is needed for making a desired trajectory. The STL was proposed by 3D System as a file format mainly used for 3D printers. The STL includes numerous triangular patches for constructing 3D objects. The preprocessor enables the machining robot to run through a zigzag path or a circular spiral path calculated from STL data. Then, a smart smoother and generator are introduced for smoothing coarse point cloud data (PCD) and for generating STL data from the smoothed PCD, respectively. The performance of the developed approaches are verified through experiments of smoothing, generating and machining.

Original languageEnglish
Title of host publicationIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors
Subtitle of host publicationEmpowering Robots with Smart Sensors
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages86-91
Number of pages6
ISBN (Electronic)9781509060849
DOIs
Publication statusPublished - Oct 11 2017
Event4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016 - Tokyo, Japan
Duration: Dec 17 2016Dec 20 2016

Publication series

NameIRIS 2016 - 2016 IEEE 4th International Symposium on Robotics and Intelligent Sensors: Empowering Robots with Smart Sensors

Other

Other4th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2016
CountryJapan
CityTokyo
Period12/17/1612/20/16

Keywords

  • CAD/CAM
  • CLS data
  • Depth sensor
  • Machining robot
  • PCD
  • Preprocessor
  • Reverse engineering
  • STL data

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Optimization
  • Instrumentation
  • Social Sciences (miscellaneous)

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