oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Path planning for laser scanning with an industrial robot
Örebro University, Department of Technology.
Örebro University, Department of Technology.
2008 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 7, p. 615-624Article in journal (Refereed) Published
Place, publisher, year, edition, pages
Elsevier , 2008. Vol. 56, no 7, p. 615-624
National Category
Robotics
Research subject
Automatic Control; Information technology
Identifiers
URN: urn:nbn:se:oru:diva-2873DOI: 10.1016/j.robot.2007.10.006OAI: oai:DiVA.org:oru-2873DiVA, id: diva2:135390
Available from: 2008-01-10 Created: 2008-01-10 Last updated: 2017-12-14Bibliographically approved
In thesis
1. An industrial robot as carrier of a laser profile scanner: motion control, data capturing and path planning
Open this publication in new window or tab >>An industrial robot as carrier of a laser profile scanner: motion control, data capturing and path planning
2008 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Geometric Reverse Engineering (RE) is concerned with the problem of creating CAD-models of real objects by measuring point data from their surfaces. In the aim of creating a fully automatic RE system there is a need to automate also the measuring process. The work presented in this thesis deals with issues concerning the use of an industrial robot and a laser profile scanner as a platform to achieve this.

The initial work presented mainly threats the hardware and software components used and the efforts needed to integrate them into a working system. The components used are basically an industrial robot with attached turntable, a laser scanner and a programable CAD-system (computer aided design). Worth to mention is the approach to use the robot also as a measuring device. This work also describes the project’s long term objective - a fully automatic system for Geometric Reverse Engineering of unknown objects.

The second study is concerned with motion control and data capturing. Motion control is here understood as the process of realizing a robot driven scanner movement along a path defined by 3D curves in a CAD-system. Issues such as avoiding collisions, finding suitable robot configurations and data transfer are treated. The data capture section of the work deals with the problem of merging the measured data from the two systems. During the data

capture the robot and the scanner work separately with their own sampling intervals. The data merging procedure involves a technique based on timestamps and interpolation.

The third study deals with the problem of automatic path planning for a system that can move along curved paths. The system works without knowing the shape of the object to examine in advance. It is therefore suited to fulfil the requirements as the core part of the automatic RE-system we have in mind. With this ability

comes the problems of planning upcoming scan operations in a way that will likely cover as much new, unseen surface as possible, but still plan and perform smoothly shaped scanner movements. A concluding paper treats the different sources of errors that will affect the measuring quality in terms of absolute accuracy.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2008. p. 20
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 29
Keywords
Geometric reverse engineering, Laser scanning, Industrial robot, Path planning, CAD, 3D measurement systems
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-1738 (URN)978-91-7668-574-7 (ISBN)
Public defence
2008-02-01, Hörsal T, T-huset, Örebro universitet, Örebro, 13:00 (English)
Opponent
Supervisors
Available from: 2008-01-10 Created: 2008-01-09 Last updated: 2017-10-18Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full text

Authority records BETA

Kjellander, Johan A. P.

Search in DiVA

By author/editor
Kjellander, Johan A. P.
By organisation
Department of Technology
In the same journal
Robotics and Autonomous Systems
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 93 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf