Path generation with a universal 3d sensor

The integration of a three-dimensional sensor into a robot workcell is described. The sensor is based on the well-known coded light approach (CLA). The CCD camera of the CLA is mounted at the robot's hand and one or more projectors are fixed outside the robot's work space. The principle of the CLA and the calibration of th robot-sensor-system are explained. An application in which the tool of the robot follows an unknown path on an arbitrary surface is presented. For evaluation reasons the deviation from the surface coordinates are simultaneously measured by a gage, allowing a quantitative error analysis.<
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