Conceptual design and analysis of an on-line opto-mechatronic measuring system based on pattern projection

Author

Drust, Manuel ; Verl, A.

Author_Institution

IPA, Fraunhofer Inst. for Manuf. Eng. & Autom., Stuttgart, Germany

fYear

2011

fDate

3-7 July 2011

Firstpage

844

Lastpage

849

Abstract

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.

Keywords

control system synthesis; industrial robots; light emitting devices; machining; mechatronics; pattern recognition; 6D measuring system; MatrixTraq; conceptual analysis; conceptual design; industrial robots; light emitting device; machining; online opto-mechatronic measuring system; pattern projection; Accuracy; Position measurement; Robot sensing systems; Service robots; Software;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Conference_Location

Budapest

ISSN

2159-6247

Print_ISBN

978-1-4577-0838-1

Type

conf

DOI

10.1109/AIM.2011.6027129

Filename

6027129