Coordinate transformation of an industrial robot and its application in deterministic optical polishing

Wang, Wei, Yu, Guoyu, Xu, Min and Walker, David (2014) Coordinate transformation of an industrial robot and its application in deterministic optical polishing. Optical Engineering, 53 (5). pp. 1-7. ISSN 0091-3286

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Abstract

An IRB6620 industrial robot from ABB Co. Ltd. (Zurich, Switzerland) is used as a processing platform for optical processing, and computer-controlled optical surfacing is applied as a key technology. The function of each coordinate system of the robot in processing is reviewed, as well as the relationship of each coordinate system and coordinate transformation. An algorithm governing coordinate transformations is provided. In order to assess the functionality of the robot as a polishing instrument, experiments have been designed so that the removal rate and surface form error correction of the robot facility have been compared with those from established computer numerical control polishing. The importance for the application of industrial robot in optical processing is also presented.

Item Type: Article
Keywords: industrial robot optical polishing coordinate transformation
Divisions: Applied Science, Computing and Engineering
Depositing User: Mr Stewart Milne
Date Deposited: 12 Sep 2014 08:04
Last Modified: 19 Dec 2017 15:24
URI: http://glyndwr.repository.guildhe.ac.uk/id/eprint/8241

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