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 Path Planning of a Laser-scanner with the Control of Overlap for 3d Part Inspection
Tác giả hoặc Nhóm tác giả: Nguyen Duy Minh Phan, Yann Quinsat, Sylvain Lavernhe, Claire Lartigue
Nơi đăng: Procedia CIRP, Elsevier; Số: ISSN: 2212-8271;Từ->đến trang: 392-397;Năm: 2018
Lĩnh vực: Khoa học công nghệ; Loại: Bài báo khoa học; Thể loại: Quốc tế
TÓM TẮT
This paper proposes a new approach to scan path planning for automated inspection of manufactured parts with an industrial robot based on the control of the overlap between 2 successive scanning paths. The novelty lies in the use of the least-squares conformal map, which stretches a 3D surface on a 2D plane. Equidistant paths calculated in the 2D space are transformed into equidistant paths in the 3D space. Controlling the overlap can maximize the coverage region on the scanned part. On the other hand, digitizing quality is ensured by managing the sensor configuration relative to the part with respect to quality criteria. The approach is implemented with success for a laser-plane scanner mounted on an industrial robot.
ABSTRACT
This paper proposes a new approach to scan path planning for automated inspection of manufactured parts with an industrial robot based on the control of the overlap between 2 successive scanning paths. The novelty lies in the use of the least-squares conformal map, which stretches a 3D surface on a 2D plane. Equidistant paths calculated in the 2D space are transformed into equidistant paths in the 3D space. Controlling the overlap can maximize the coverage region on the scanned part. On the other hand, digitizing quality is ensured by managing the sensor configuration relative to the part with respect to quality criteria. The approach is implemented with success for a laser-plane scanner mounted on an industrial robot.
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