Metrological integration and automation of surface topography measuring instruments on cobots

Integrating surface topography measuring instruments on cobots allows fast and automated inspection procedure, while reaching undercuts and overhanging surfaces typical of freeform components. A methodology is proposed to achieve such integration within a metrological framework, while targeting exte...

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Bibliographic Details
Published in:Procedia CIRP 2024, Vol.126, p.963-968
Main Authors: Maculotti, Giacomo, Genta, Gianfranco, Aliev, Khurshid, Galetto, Maurizio
Format: Article
Language:English
Subjects:
Human robot collabotation
Topography
Uncertainty
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Summary:Integrating surface topography measuring instruments on cobots allows fast and automated inspection procedure, while reaching undercuts and overhanging surfaces typical of freeform components. A methodology is proposed to achieve such integration within a metrological framework, while targeting extended surface measurements. A machine learning algorithm is developed based on Bayesian approaches to optimize registration and stitching of the measured field-of-views. Nominal cobot positions are exploited for initialization, and calibrated motion axes metrological characteristics are used to bound the parameter space search domain. The methodology is demonstrated on a custom-developed system, integrating a focus variation Alicona IF-SensorR25 and a Yaskawa Motoman-HC20DTP cobot.
ISSN:2212-8271
2212-8271
DOI:10.1016/j.procir.2024.08.365