For a university course I have been asked to design a rough "specification" for a system that will deburr a plastic box that appears in a workspace. Due to irregularities in the boxes edges I cannot use simple position control and must use force control.
I have so far decided on;
Using an IR sensor to detect the box has appeared in the workspace.
Use an Epson 2 axis robot to move around the work piece
Use an ATI 6 axis force sensor to maintain a constant force against the edge of the box as the deburrer/robot moves around it.
Is there a simple means of detecting the end of each side of the box ? A 0N force value would indicate reaching the edge of a box but it could also mean a breakage in the box which was also specified. How can I distinguish between the two ?
Also does my work so far sound sensible ?
Thanks for any help