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An industrial robot as carrier of a laser profile scanner: motion control, data capturing and path planning
Örebro University, Department of Technology.
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
Keyword [en]
Geometric reverse engineering, Laser scanning, Industrial robot, Path planning, CAD, 3D measurement systems
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
URN: urn:nbn:se:oru:diva-1738ISBN: 978-91-7668-574-7 (print)OAI: oai:DiVA.org:oru-1738DiVA, id: diva2:135392
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
List of papers
1. An industrial robot and a laser scanner as a flexible solution towards an automatic system for reverse engineering of unknown objects
Open this publication in new window or tab >>An industrial robot and a laser scanner as a flexible solution towards an automatic system for reverse engineering of unknown objects
2004 (English)In: Proceedings of the 7th Biennial Conference on Engineering Systems Design and Analysis 2004: Vol 2, New York: ASME , 2004, p. 341-350Conference paper, Published paper (Refereed)
Abstract [en]

Reverse Engineering(RE) is concerned with the problem of creating CAD-models of real objects by measuring point data from their surfaces. Current solutions either require manual interaction or expect the nature of the objects to be known. In order to create a fully automatic system for Reverse Engineering of unknown objects the software that creates the CAD-model must be able to control the operation of the measuring system. This paper presents a real implementation of a measuring system suited for that purpose. The experimental setup is based on an industrial robot with a laser scanner mounted at the tool-mounting flange. The key component of the system is a programable CAD-system. The CAD system is used to simulate and control the movement of the robot, as well as collecting the data acquired from both the laser scanner and from the robot's positional system.

Place, publisher, year, edition, pages
New York: ASME, 2004
Keyword
Computer aided design, Industrial robots, Motion planning, Degrees of freedom (mechanics), Computer software, Problem solving, Data acquisition, Optimization, Mathematical models
Identifiers
urn:nbn:se:oru:diva-4501 (URN)0-7918-4174-X (ISBN)
Conference
ASME 7th Biennial Conference on Engineering Systems Design and Analysis (ESDA2004), July 19–22, 2004, Manchester, England
Available from: 2008-11-14 Created: 2008-11-14 Last updated: 2017-10-18Bibliographically approved
2. Motion control and data capturing for laser scanning with an industrial robot
Open this publication in new window or tab >>Motion control and data capturing for laser scanning with an industrial robot
2006 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 54, no 6, p. 453-460Article in journal (Refereed) Published
Abstract [en]

Reverse engineering is concerned with the problem of creating computer aided design (CAD) models of real objects by interpreting point data measured from their surfaces. For complex objects, it is important that the measuring device is free to move along arbitrary paths and make its measurements from suitable directions. This paper shows how a standard industrial robot with a laser profile scanner can be used to achieve that freedom. The system is planned to be part of a future automatic system for the Reverse Engineering of unknown objects.

Place, publisher, year, edition, pages
Elsevier, 2006
Keyword
Reverse engineering, 3D measurement systems, Laser scanner, Path planning, Industrial robot
Research subject
maskinteknik
Identifiers
urn:nbn:se:oru:diva-4461 (URN)10.1016/j.robot.2006.02.002 (DOI)
Available from: 2008-11-14 Created: 2008-11-14 Last updated: 2017-12-14Bibliographically approved
3. Path planning for laser scanning with an industrial robot
Open this publication in new window or tab >>Path planning for laser scanning with an industrial robot
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
National Category
Robotics
Research subject
Automatic Control; Information technology
Identifiers
urn:nbn:se:oru:diva-2873 (URN)10.1016/j.robot.2007.10.006 (DOI)
Available from: 2008-01-10 Created: 2008-01-10 Last updated: 2017-12-14Bibliographically approved
4. Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable
Open this publication in new window or tab >>Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable
2007 (English)In: Proceedings of ETFA 12th IEEE conference on Emerging technologies and Factory Automation, 2007, p. 880-883Conference paper, Published paper (Other academic)
Abstract [en]

High accuracy 3D laser measurment systems are used in applications like inspection and reverse engineering (RE). With automatic RE in mind, we have designed and built a system that is based on a laser profile scanner mounted on a standard industrial robot with a turntable. This paper is concerned with the relatively complex accuracy issues of such a system. The different parts of the system are analyzed individually and a brief discussion of how they interact is given. Finally a detailed analysis of the scanner head along with experimental results is presented.

National Category
Engineering and Technology Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-2983 (URN)10.1109/EFTA.2007.4416872 (DOI)978-1-4244-0825-2 (ISBN)
Conference
IEEE Conference on Emerging Technologies and Factory Automation, ETFA. 25-28 Sept. 2007
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2018-01-13Bibliographically approved

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