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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.