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

Wei Wang Sr.; Guoyu Yu; Min Xu; David Walker

doi:10.1117/1.OE.53.5.055102

5 May 2014 Coordinate transformation of an industrial robot and its application in deterministic optical polishing

Wei Wang Sr., Guoyu Yu, Min Xu, David Walker

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Optical Engineering, Vol. 53, Issue 5, 055102 (May 2014). https://doi.org/10.1117/1.OE.53.5.055102

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.

CC BY: © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

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Wei Wang Sr., Guoyu Yu, Min Xu, and David Walker "Coordinate transformation of an industrial robot and its application in deterministic optical polishing," Optical Engineering 53(5), 055102 (5 May 2014). https://doi.org/10.1117/1.OE.53.5.055102

Published: 5 May 2014

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