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The use of robots in SME production environments requires programming systems that decrease programming effort and can be used by process experts rather than robotics experts. The core sources of information available to the robot system are human input, sensor data and model data. However most programming systems only connect one or two of these information sources to generate robot programs. The presented programming concept featuring hand-guided robot operation for intuitive robot instruction, use of workpiece CAD-models to retrieve nominal model information and a triangulation sensor for detection of workpiece contours features combination of all three sources of information and promises efficient robot programing for deburring applications in SME production. Finally a kinematic compensation approach is investigated which provides good positioning accuracy which is in particular important when dealing with workpieces of large dimensions.
Dietz et al. (Tue,) studied this question.