Title :
3-D Shape Measurement Method by a 6-axis Robot and a New Sensor Having Ability of Detecting Both the 2-D Incident Angle and Position of a Light
Author :
Narita, Daisuke ; Baba, Mitsuru
Author_Institution :
Fac. of Eng., Ibaraki Univ.
Abstract :
In this paper, we propose a new laser rangefinder equipped with a 6-axis robot and a new sensor that has ability of detecting both the 2D incident angle and the 2D position of a light. It is difficult for an ordinary rangefinder to measure the 3D shape of a specular object. Then we propose the rangefinder that can measure the 3D position (x, y, z) of specular and Lambertian objects from x-z coordinate triangulation and y-z coordinate one. It is clear that the proposed rangefinder has a great potential for the 3D shape measurement of a complex-shape specular object
Keywords :
laser ranging; object detection; robot vision; shape measurement; 2D incident angle; 3D shape measurement; 6-axis robot; Lambertian objects; laser rangefinder; light position; specular objects; x-z coordinate triangulation; y-z coordinate triangulation; Automatic optical inspection; Instrumentation and measurement; Optical reflection; Optical sensors; Reflectivity; Robot kinematics; Robot sensing systems; Rough surfaces; Shape measurement; Surface roughness; 3-D shape; 6-axis robot; Lambertian object; incident angle and position; rangefinder; specular object;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2006. IMTC 2006. Proceedings of the IEEE
Conference_Location :
Sorrento
Print_ISBN :
0-7803-9359-7
Electronic_ISBN :
1091-5281
DOI :
10.1109/IMTC.2006.328352
