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

Hua Wei Wang, Guoyu Yu, Min Xu, David Walker

Research output: Contribution to journalArticle

4 Citations (Scopus)


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.

Original languageEnglish
Article number0551026
Number of pages6
JournalOptical Engineering
Issue number5
Publication statusPublished - 5 May 2014
Externally publishedYes


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