Conceptual design and analysis of an on-line opto-mechatronic measuring system based on pattern projection

In this paper, an approach for an opto-mechatronic 6-D measuring system for machining with industrial robots is proposed. The conceptual design of the system MatrixTraq which is based on pattern projection in the workspace of a robot system is explained. Realization aspects and the spatial configura...

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Bibliographic Details
Main Authors: Drust, M., Verl, A.
Format: Conference Proceeding
Language:English
Subjects:
Accuracy
Position measurement
Robot sensing systems
Service robots
Software
Online Access:Request full text
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Description
Summary:In this paper, an approach for an opto-mechatronic 6-D measuring system for machining with industrial robots is proposed. The conceptual design of the system MatrixTraq which is based on pattern projection in the workspace of a robot system is explained. Realization aspects and the spatial configuration of main components incorporating a light emitting device just as a sensing device are outlined. A simplified test bed used for the evaluation of the conceptual approach is described. Industrial equipment is used and computation methods for ellipse detection are implemented to address practical issues. Experimental results for capturing and reconstructing light projections for a robot moving in-plane are presented and compared.
ISSN:2159-6247
2159-6255
DOI:10.1109/AIM.2011.6027129