Development of a high accuracy automatic measurement system utilizing an industrial robot and a fringe projection system

This paper introduces the development of a novel autonomous high accuracy 3d shape measurement system. A fringe projection system is mounted at the endeffector of an industrial robot to measure the object shape. Through a special geometrical construction and calibration of the fringe projection system the system is feasible to measure at large and also at short distances with a large measurement area. This makes the presented system well suited for the autonomous high accuracy measurement of large tool parts. Furthermore, an autonomous calibration procedure and a novel selection scheme is introduced, which enables the identification and the optimal set of measurement positions for the hand-eye transformation and the robots kinematic parameter. The proposed system and schemes are evaluated and verified experimentally.