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

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3 Author(s)
Yuqing Chen ; Automation Research Center Dalian Maritime University Dalian, Liaoning Province, China ; Zi Ma ; Huipu Xu

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.

Published in:

2009 IEEE International Conference on Automation and Logistics

Date of Conference:

5-7 Aug. 2009