A Framework for Simultaneous Workpiece Registration in Robotic Machining Applications
Steffan Lloyd,Rishad Irani,Mojtaba Ahmadi,Steffan Lloyd,Rishad Irani,Mojtaba Ahmadi
This article presents a novel framework called Simultaneous Registration and Machining (SRAM), a generalized method to improve workpiece registration using real-time acquired data in robotic contouring applications. The method allows for online corrections to the toolpath, while a live covariance estimate is simultaneously leveraged to adaptively tune the force controller aggressively when uncerta...
