Wykorzystanie robota przemys?owego do precyzyjnego skanowania t?oczników

摘要

The paper presents a scanning system consisting of an industrial robot and a laser scanner. The system was built to scan working surfaces of dies. In order to build a CAD die model, three-dimensional scanning of an object must be performed. For a small dimension die, scanning does not cause many difficulties. A problem appears when the die has bigger dimensions i.e. of over 80cm. Big objects should be scanned at several stages and next, point clouds obtained from each stage should be combined into one reflecting the scanned object shape. The combination is made by means of specialist algorithms which in the case of some shapes generate errors of the copied shape. There are plans to use an industrial robot for scanning in order to eliminate the errors. Basing on the coordinate system of the industrial robot, there will be eliminated automatic search of the subsequent scan shifts which occurs during the point clouds combination. The authors used the FANUC LR Mate 100iB industrial robot and Optix laser scanner manufactured by 3ddigital Corp. The robot program took a start point and next determined the end point of the measurement. After determining the distances between these points, intermediate points were determined. With this data, it was possible to calculate the shifts of subsequent scans. The shifts were used in the algorithm which calculated new locations of point clouds in subsequent displays. As a result, a point cloud reflecting the shape of the scanned die was obtained.%W ramach niniejszej pracy przedstawiono uk?ad skanuj?cy w sk?ad którego wchodzi? robot przemys?owy oraz urz?dzenie do skanowania powierzchni narz?dzi - t?oczników. Do tego celu zastosowano robot przemys?owy FANUC LR Mat? 100iB oraz skaner laserowy Optix firmy 3ddigital Corp.