Robotic Slag Removal System with Position Compensation and Defect Detection based on YOLO Algorithm

Robotic arms play a crucial role in factory automation, offering immense versatility, precision, and the capability for autonomous operation, thereby eliminating the need for manual labor. In this study, we have developed a robotic slag removal system with automatic position compensation and defect detection capabilities, which is capable of locating the features of workpieces, perform deslagging, and detect defects using the YOLO (You Only Look Once) algorithm. The experimental workpiece in this study is a knee femoral implant. Firstly, a position compensation method is employed to precisely locate the clamping hole of the workpiece. The robot trajectory is then automatically generated by the software for the deburring of the clamping hole slag. Subsequently, the system utilizes the detected defect locations to generate a re-deslagging path, ensuring that all remnants are thoroughly cleaned.