ロボットによる物体の非接触三次元計測

概要

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This paper describes the development and the methodology of a non-contacting, three dimensional measurement system using an industrial robot, a CCD camera together with a laser analogue sensor, and some results obtained by applying it to the measurement of objects. A frame image of an object in the working area of the robot is firstly taken by the camera mounted on the upper stand over the robot. Then its pattern, position and dimensions are recognized by a personal computer. Using these recognized data, robot operating instructions are made automatically on the computer. Successively the robot approachs the object and begins to measure the distance between it and the laser sensor according to the principle of the triangulation. By this measurement system, workpieces and houseware having fairly complicated contours can be measured precisely and reconstituted as three dimensional data in the computer memory cells. The over-all measuring speed is several times that of the conventional system using a contacting probe.
一般社団法人日本機械学会の論文
1987-08-25