Automatic programming of robot-mounted 3D optical scanning devices to easily measure parts in high-variant assembly

In times of increasing product variance and demand for highest quality, 100% inspection of parts is often mandatory along the supply chain and the incoming goods control of assembly processes, respectively. A promising approach to reach this goal is the use of robot-assisted measurement systems. However, such systems require high efforts to program the robot for every new part and thus are seldom implemented in high-variant assembly systems. Consequently, this work proposes a system for automated programming of robot-mounted optical scanning devices. Additionally, algorithms to automatically extract measurement features and generate collision-free robot scanning paths from CAD models are described.