Posts by astronaut

this the control

Can I show some block diagrams of the system I think can work and of the Force control loop?

Its more about automation. How to automate the whole process instead doing it manually . Understand. The manual work is described in the documents photos I attached. So instead of doing it manually Im seeking for automated solution

so instead of doing manually chamfering would like to automate the process

and this.This is the first photo

maybe this photo can help.

its more about solution and what can be use and how to approach to solve the problem

what can be used for higher accuracy? And instead of vision what can be used?

and 3 more

i have more photos of the set up

Yes, the sponge is being used to flatten the circular face of the prism, not correct diametrical out-of-roundness.I have more photos of the set up with exact explanation and dimensions but i can not upload. Haw can I attach 6 more photos? Sponge is just to drop bit water

Automation of hand chamfering prism

HiIm new to this forum and would like to ask for some opinion and discussion regarding the Automation of hand chamfering prism solution. I includes the photos and dimensions with some explanation of the set up. So far my understanding to approach the problem with classical robotics methods consists of the robot uses a vision system to scan the chamfering tool diameter and the prism to determine just how round or out-of-round the tool and prism are . After gathering this information, the robot arm traces the exact contour of the camfering tool using a tooling to hold the sponge. Another robot arm grasp the prism and a laser displacement sensor does a 360-degree check to verify the position of the prism. This is sort of closed-loop concept but would appreciate if any discussion or help to improve the system or add additional components. Another option would be using machine learning/reinforcement learning to control the robot arm and for example can be use also a Stochastic Gradient Descent that affect the learning rate taking into account the minimizing the distance to the target as a function of the angle. Any other idea or methodology how to approach the problem in a better way and how can be done more efficiently? Thanks