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

: Drust, Manuel; Verl, Alexander

Preprint urn:nbn:de:0011-n-1890263 (263 KByte PDF)
MD5 Fingerprint: 3d706c44705a612e5c46eae03192e2e1
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Created on: 9.3.2012

Institute of Electrical and Electronics Engineers -IEEE-; American Society of Mechanical Engineers -ASME-:
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 : 3-7 July 2011, Budapest
New York, NY: IEEE, 2011
ISBN: 978-1-4577-0838-1
International Conference on Advanced Intelligent Mechatronics (AIM) <2011, Budapest>
Conference Paper, Electronic Publication
Fraunhofer IPA ()
industrial robot; position measurement; Positionsmesssystem; Optomechanik; 6D; Industrieroboter; Messen; Mechatronik

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.