Key technologies of 3D surface inspection for complex workpiece using OMP60 probe

Author

Chen, Yuqing ; Ma, Zi ; Xu, Huipu

Author_Institution

Autom. Res. Center, Dalian Maritime Univ., Dalian, China

fYear

2009

fDate

5-7 Aug. 2009

Firstpage

223

Lastpage

227

Abstract

In this paper, some key technologies of surface inspection are presented. Based on a robot manipulator, a new radius compensation of spherically tipped touch probe is first discussed, and the calibration algorithm for robot hand to eye is proposed. Different from traditional CMM based approach, the point-set registration is derived as a constrained optimization problem, then some issues concerning with the inspection path planning for complex workpiece are described, which is formulated as points distribution, stylus obstacle avoidance and path optimization problems.

Keywords

coordinate measuring machines; manipulator dynamics; path planning; 3D surface inspection; OMP60 probe; complex workpiece; constrained optimization problem; inspection path planning; path optimization problems; point-set registration; points distribution; robot manipulator; spherically tipped touch probe; stylus obstacle avoidance; Calibration; Constraint optimization; Coordinate measuring machines; Inspection; Path planning; Probes; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Surface inspection; calibration; path planning; radius compensation; registration;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Logistics, 2009. ICAL '09. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

978-1-4244-4794-7

Electronic_ISBN

978-1-4244-4795-4

Type

conf

DOI

10.1109/ICAL.2009.5262923

Filename

5262923