Interactive Robotic Grinding: Interactive Building Metal Surface Design and Fabrication for Robotic Grinding

This paper presents an interactive robot grinding system that enables designers and workers to intuitively perform metal sheet grinding processes. This study involves three key elements: gesture-based interactive design, AR user interface, and robotic grinding. Different from regular patterns, the utilization of grinding to create irregular patterns on metal sheets hasn't been frequently practiced because of the unpredictability of the process and the inaccuracy of manual grinding. However, by proposing this augmented reality-based interactive system, users are allowed to interactively complete metal sheet grinding. Different from other augmented reality methods, it accomplishes this by visualizing control parameters as spatial operational interfaces through AR glasses and allowing for gesture-based control so users can edit the 3D custom geometry to change the control parameters. Finally, system test was conducted targeting designers, leading to the design and fabrication of a full-sized demonstrator consisting of 2 * 3 metal sheets using this system.