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Real-time simulation and visualization of robotic belt grinding processes

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Abstract

Real time simulation and visualization are important for robot programmers to verify and optimize the path planning for the robotic belt grinding process. A new free-form surface representation based on discrete surfel element is developed to facilitate the system implementation, which exploits the advantage of the new development of point-based rendering technology in computer graphics. A local process model is integrated to calculate the material removal rate by considering the local geometry information and non-uniform force distribution. The final surface grinding error is easy to be assessed and visualized for quality evaluation. The experiments show that the simulation error is below 15%, even for a non-uniform contact under stable cutting conditions.

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Authors and Affiliations

  1. Robotics Research Institute, University of Dortmund, Otto-Hahn-Str. 8, 44227, Dortmund, Germany

    Xiangyang Ren & Bernd Kuhlenkötter

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  1. Xiangyang Ren
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  2. Bernd Kuhlenkötter
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Correspondence to Xiangyang Ren.

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Ren, X., Kuhlenkötter, B. Real-time simulation and visualization of robotic belt grinding processes. Int J Adv Manuf Technol 35, 1090–1099 (2008). https://doi.org/10.1007/s00170-006-0791-0

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  • DOI: https://doi.org/10.1007/s00170-006-0791-0

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