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

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