비젼을 이용한 디버링 기술의 로봇에의 전달

Deburring Skills to Robot Using Vision System

This study presents the new method which can transfer the expert's skill to deburring robot through neural network. The expert's skill is expressed as associationmapping between the characteristics of the burr and human expert's action. Under the fundamental idea that the state of the deburring processcan be extracted via the visual sense of the human,we employ vision system for the perception and identification of the changing burr. Form the demonstration of human experts, force data are measured. Finally the characteristics of the burr and coressponding force are associated by the neural network which is trained through many demonstrations. The proposed method is verified in the deburring process of welding burr.