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Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable
Örebro University, Department of Technology.
Örebro University, Department of Technology.
Örebro University, Department of Technology.
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.

Place, publisher, year, edition, pages
2007. p. 880-883
National Category
Engineering and Technology Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-2983DOI: 10.1109/EFTA.2007.4416872ISBN: 978-1-4244-0825-2 (print)OAI: oai:DiVA.org:oru-2983DiVA, id: diva2:136111
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
In thesis
1. Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
2008 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Laser scanners in combination with devices for accurate orientation like Coordinate Measuring Machines (CMM) are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, flexible, rather cheap and compatible with industrial environments. It is therefore of interest to investigate if it can be used in this application.

This thesis will describe a measuring system consisting of a laser profile scanner mounted on an industrial robot with a turntable. It will also give an introduction to Geometric Reverse Engineering (GRE) and describe an automatic GRE process using this measuring system. The thesis also presents a detailed accuracy analysis supported by experiments that show how 2D profile data can be used to achieve a higher accuracy than the basic accuracy of the robot. The core topic of the thesis is the investigation of a new technique for planar segmentation. The new method is implemented in the GRE system and compared with an implementation of a more traditional method.

Results from practical experiments show that the new method is much faster while equally accurate or better.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2008. p. 31
Series
Studies from the Department of Technology at Örebro University, ISSN 1404-7225 ; 30
Keywords
Geometric Reverse Engineering, 3D measurement systems, laser scanner, planar segmentation, region-growing
National Category
Information Systems
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-2318 (URN)
Presentation
2008-06-11, T131, Teknikhuset, Fakultetsgatan 1, Örebro, 13:00 (English)
Opponent
Supervisors
Available from: 2008-06-11 Created: 2008-06-11 Last updated: 2018-01-13Bibliographically approved
2. 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
3. Segmentation and fitting for geometric reverse engineering: processing data captured by a laser profile scanner mounted on an industrial robot
Open this publication in new window or tab >>Segmentation and fitting for geometric reverse engineering: processing data captured by a laser profile scanner mounted on an industrial robot
2010 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Geometric Reverse Engineering (GRE) is the problem of creating CAD models of real objects by measuring point data from their surfaces. The GRE process is usually divided into four sub processes, data capturing, preprocessing, segmentation, fitting and finally CAD model creation. To automate the GRE process the sub processes need to be integrated. The work presented in this thesis concerns the integration of the sub processes and shows how to implement GRE using a system consisting of a laser profile scanner mounted on an industrial robot equipped with a turntable.The first paper is concerned with the relatively complex accuracy issues of the system and the sources of errors of the system are identified.The second paper continues the work with accuracy issues to investigate the 2D accuracy of the scanner head. Moreover it presents an implementation of planar segmentation and fitting based on point clouds. A new method for planar segmentation based on a laser profiles and robot poses is proposed.The Third paper presents a comprehensive  review of the recent development of the measurement system and discusses the integrated GRE process and the requirements for integrating the GRE sub processes using an open source CAD tool which is maintained and developed at Örebro University.The fourth paper addresses the problem of segmentation of the measured data into planar regions by implementing and comparing two different algorithms. The first algorithm is well known and based on point clouds. The second algorithm is new and based on laser profiles and robot poses. Experimental results indicate that the second algorithm is faster and more accurate.The final paper continues the work on segmentation and fitting. A new algorithm to solve the complex problem of quadric segmentation and fitting is presented.Finally, the thesis points out interesting directions of future work.

Place, publisher, year, edition, pages
Örebro: Örebro universitet, 2010. p. 102
Series
Örebro Studies in Technology, ISSN 1650-8580 ; 37
Keywords
Geometric Reverse Engineering, Industrial robot, Laser profile scanner, Segmentation, Fitting
National Category
Engineering and Technology
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-10999 (URN)978-91-7668-738-3 (ISBN)
Public defence
2010-09-23, C114, Karlavägen 16, Campus Alfred Nobel -Karlskoga, 13:15 (English)
Opponent
Supervisors
Projects
Geometric Modeling based on Automatic data Capture (GMAC)
Available from: 2010-06-10 Created: 2010-06-10 Last updated: 2017-10-18Bibliographically approved

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Rahayem, MohamedKjellander, Johan

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