0 present participle of buff
1 to rub an object made of metal, wood, or leather in order to make it shine, using a soft, dry cloth
Equations 4-6 represent the relationship between positions and joint angles of the buffing points with respect to the reference frame.
The last, placed on the conveyor, is transported to an arbitrary place in the workspace of the robot for buffing tasks.
However, the corresponding joint angles are calculated by the normal vector of the buffing points.
However, most of these robots are applied to formalized shoes, and the existing 6-axis industrial robots have been utilized for the buffing tasks.
For this reason, some position errors occur in buffing the side of the shoes along the trajectories generated by using model shoes.
Considerable attention has been paid to the development and applications of industrial robots in shoe manufacturing for tasks such as the buffing task of shoes.
For this reason, practical dedicated robots with useroriented programs are required for buffing the outsole of shoes including public sneakers.
Furthermore, to apply industrial robots to the buffing operation of shoes, a user-oriented program is required to achieve easy interface between operators and robots.
