Abstract
This paper describes the development and experimental results of the three-dimension (3-D) tracing system with tactile sensors. The analog tracing probe can sense the 3-D deflection of the probe stylus. According to the deflection vector and tracing objectives, a microcomputer implements the control algorithm and drives the probe to trace a space curve which is an intersection of two unknown physical surfaces automatically. The tracing scheme and algorithm have been developed and the system dynamics has also been analyzed. As the application examples, the test structures having been traced are a 3-D lap-joint seam, a butt-joint seam and a V-butt-joint seam. This system can be used for the robotic automatic guidance as a kind of self-learning industrial robots.
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