Key technologies of 3D surface inspection for complex workpiece using OMP60 probe

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.