Force con­trolled pol­ish­ing of painted sur­faces using ArtiMinds RPS

The appli­ca­tion involved the detec­tion of defects on dif­fer­ent com­po­nents , to force-con­trolled approach these and pol­ish them after­wards. This involved not only real­iz­ing the pol­ish­ing process in the robot appli­ca­tion, but also inte­grat­ing the nec­es­sary sen­sor com­po­nents. The defects are detected by a cam­era sys­tem that trans­mits the coor­di­nates to the robot. The robot includ­ing the force-torque sen­sor and the pol­ish­ing head should then take over the rest. The great­est chal­lenge of this appli­ca­tion are defects, which can be located at dif­fer­ent places on each sin­gle com­po­nent. There­fore con­ven­tional robot pro­gram­ming was not pos­si­ble for this application.