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An industrial robot and a laser scanner as a flexible solution towards an automatic system for reverse engineering of unknown objects
Örebro University, Department of Technology. (CAD Technology)
Örebro University, Department of Technology. (CAD Technology)
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. p. 341-350
Keywords [en]
Computer aided design, Industrial robots, Motion planning, Degrees of freedom (mechanics), Computer software, Problem solving, Data acquisition, Optimization, Mathematical models
Identifiers
URN: urn:nbn:se:oru:diva-4501ISBN: 0-7918-4174-X (print)OAI: oai:DiVA.org:oru-4501DiVA, id: diva2:138800
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
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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Citation style
  • apa
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