Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable

An Industrial Robot as Part of an Automatic System for Geometric Reverse Engineering

“…It is important to state that the basic accuracy of an industrial robot is relatively low. The accuracy of a profile scanner is at least 10 times better, see (Rahayem et al, 2007). With a fully integrated GRE system, where the GRE software has access not only to 3D point data but also to 2D profile data and the GRE software can control the orientation of the scanner relative to the measured object's surface, it is a reasonable to believe that it may be possible to compensate to some extent for the low accuracy of the robot.…”

“…See (ABB user's guide) and (ABB rapid reference manual) for more details on the robot. See (Rahayem et al, 2007) for more details on accuracy analysis.…”

“…The camera is connected to a frame grabber in a PC that performs the image analysis with software developed by Namatis AB Company in Karlskoga, Sweden. An analysis of the scanner head (camera and laser source), sources of errors and scanner head accuracy has been done by a series of experiments and shows that the accuracy of the scanner head is at least 10 times better than the robot's accuracy (Rahayem et al, 2007) and (Rahayem et al, 2008). Fig.…”

“…It is therefore of certain interest to investigate how different parts of the system will influence the final accuracy of GRE operations. The author knowing that the scanner is more accurate than the robot (Rahayem et al, 2007) it is also of interest to investigate if and how 2D profile data from the scanner can be used to increase the accuracy of GRE operations. Section 3 presents the measuring system.…”

“…Section 3 presents the measuring system. A detailed investigation of the accuracy of the system is given in (Rahayem et al, 2007). Section 4 includes an introduction of a typical GRE operation (segmentation).…”