Realization of Robot-assisted Laser Scanning Measurement System based on Assembly Platform

Abstract

The assembly platform of complex structures with a variety of CNC tools can achieve automated clamping, riveting, drilling, seamless calibration docking, and can also realize connecting engineering of complex assembly. In this paper, to solve the issue of digital measurement positioning technology in complex-structure assembly platform, an industrial robot-assisted laser scanning system is designed, and its kinematics model is established. At the same time, the trajectory of the robot rotation scan is planned. Finally, the measurement accuracy of the system we have established proves to meet the ac- tual demands by assembling experiment. In the assembly of complex-structure, digitized measurement positioning technology is an important standard of assembly quality. The technology can be realized by the robots equipped with vision meas- urement system, which is real-time scanning, high measuring accuracy and efficiency. In the 1960s, there were researches of combining visual measurement systems and robot in the world. In 1969, Nilsson developed the first intelligent mobile robot named shakey equipped with a camera, rangefinder, and contact sensors at Stanford SRI Institute, and its task was automatic obstacle avoidance and target motion tracking. In the late 1990s, machine vision measurement technology be- gan to develop rapidly in China. Harbin Institute of Technology achieved a fully autonomous soccer robot navigation with heterogeneous binocular active vision systems, analyzed fusion method of foot- ball robot's navigation data based on the binocular coordination, and proposed the binocular coordina- tion navigation model and target implementation strategy based on its behavior (1). National University of Defense Technology studied surgical instrument tracking and positioning technology based on bin- ocular vision (2). Currently, machine vision technology is widely used in various aspects, especially in industrial production and assembly. The machine vision measurement technology has become increas- ingly mature, but the study of improving the measurement accuracy of vision measurement system is still a main direction that we need to further study. In this paper, through analyzing the complex-structure assembly and detection system, a laser scan- ning measurement system is built by the Swedish ABB robot equipped with a CCD(Charge-coupled Device) high-speed camera. The system proves to be large measurement range, high accuracy and real- time.