Burr Registration and Trajectory Planning of 3D Workpiece Using Computer Vision

This paper proposes an effective way to identify the burr using image processing technique. The proposed method uses a simple mirror setup to capture 3D details of the burr. A set of image processing algorithm is used to calculate the dimensions of the burr. The burr dimensions are verified using the coordinate measuring machine. These details are then used to generate the trajectory for robot deburring. The deburring path generated is verified using ABB RobotStudio simulation software. The experimental result shows that the proposed approach provides an efficient method for robotic deburring.