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Motion control and data capturing for laser scanning with an industrial robot
Örebro University, Department of Technology. (CAD Technology)
Örebro University, Department of Technology. (CAD Technology)
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. Vol. 54, no 6, p. 453-460
Keywords [en]
Reverse engineering, 3D measurement systems, Laser scanner, Path planning, Industrial robot
Research subject
maskinteknik
Identifiers
URN: urn:nbn:se:oru:diva-4461DOI: 10.1016/j.robot.2006.02.002OAI: oai:DiVA.org:oru-4461DiVA, id: diva2:138760
Available from: 2008-11-14 Created: 2008-11-14 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

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Kjellander, Johan

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