Title :
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
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;
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
DOI :
10.1109/ICAL.2009.5262923
