A system for automated edge finishing

Three areas of technology required for automated deburring, chamfering, and blending of machined edges are discussed. They are the automatic programming of robot trajectories and deburring processes using information derived from a CAD database, the use of machine vision for locating the workpiece coupled with force control to ensure proper tool contact, and in-process automated inspection of the formed edge. A description is given of the laboratory at which the work was performed and of results from edge finishing experiments