Three-line rangefinder for shape, slope, and local curvature measurement from a robot arm

Armando Albertazzi Jr.; Frank Hrebabetzky

doi:10.1117/12.445543

23 October 2001 Three-line rangefinder for shape, slope, and local curvature measurement from a robot arm

Armando Albertazzi Jr., Frank Hrebabetzky

Proceedings Volume 4398, Optical Measurement Systems for Industrial Inspection II: Application in Industrial Design; (2001) https://doi.org/10.1117/12.445543
Event: Lasers in Metrology and Art Conservation, 2001, Munich, Germany

Abstract

Range finders have been widely applied to measure distances and shape along a single line. In combination with a displacement device, ranger finders can be used to scan several lines of a surface and, by numerical reconstruction, recover the surface's shape. A three-line range finder was developed in order to permit the measurement of position, spatial orientation and local curvature with a single shot. That configuration can make the measurement process faster and allows curvature measurement of movable parts. The three-line range finder was designed to be mounted on a robot arm. The spatial coordinates and orientation of the range finder are determined by the position and orientation of the robot arm. A coordinate transformation is applied to the local measured data in order to compute the global values of those parameters. As a result, the global values of those parameters. As a result, the global coordinates, normal vector and curvature of several points over a free form surface are known. The numerical reconstruction of a free form surface becomes easier a more accurate if more elaborated information is available about the unknown surface. The size of the cloud of points can be significantly smaller. The paper also presents preliminary results of the overall performance of the developed system.

Citation Download Citation

Armando Albertazzi Jr. and Frank Hrebabetzky "Three-line rangefinder for shape, slope, and local curvature measurement from a robot arm", Proc. SPIE 4398, Optical Measurement Systems for Industrial Inspection II: Application in Industrial Design, (23 October 2001); https://doi.org/10.1117/12.445543

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KEYWORDS

Sensors

Cameras

Clouds

Distance measurement

Calibration

Projection systems

3D metrology

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