Motion control and data capturing for laser scanning with an industrial robot

2006 ◽  
Vol 54 (6) ◽  
pp. 453-460 ◽  
Author(s):  
Sören Larsson ◽  
J.A.P. Kjellander
Keyword(s):  
Motion Control ◽  
Laser Scanning ◽  
Industrial Robot ◽  
Data Capturing

Motion Control of Industrial Robot by Considering Vibration Suppression and Fast Path Tracking

2010 ◽  
Vol 130 (3) ◽  
pp. 375-384
Author(s):  
Satoru Kumagai ◽  
Toshimasa Miyazaki ◽  
Kiyoshi Ohishi
Keyword(s):  
Motion Control ◽  
Vibration Suppression ◽  
Industrial Robot ◽  
Path Tracking

MoD-2-3 ROBUST MOTION CONTROL USING KALMAN-FILTER-BASED INSTANTANEOUS STATE OBSERVER FOR INDUSTRIAL ROBOT

2015 ◽  
Vol 2015 (0) ◽  
pp. _MoD-2-3-1-_MoD-2-3-3
Author(s):  
Akinori Yabuki ◽  
Takashi Yoshioka ◽  
Thao Tran Phuong ◽  
Kiyoshi Ohishi ◽  
Toshimasa Miyazaki ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Motion Control ◽  
Industrial Robot ◽  
State Observer ◽  
Robust Motion Control

CAD Model Reconstruction Using 3D Laser Scanning

2011 ◽  
Vol 71-78 ◽  
pp. 3485-3488
Author(s):  
Dong Zhang ◽  
Teng Huang ◽  
Jing Cao Song
Keyword(s):  
High Speed ◽  
Laser Scanning ◽  
Cad Model ◽  
Model Reconstruction ◽  
3D Laser Scanning ◽  
Laser Measurement ◽  
Whole Process ◽  
Modeling Accuracy ◽  
Data Capturing ◽  
High Technologies

This paper presents a method for automatic CAD model reconstruction from 3D laser scanning data. 3D laser scanning is a surveying instrument integrated with various kinds of new high technologies, which operates by non-contact high speed laser measurement. The whole process includes data capturing, noise reduction, sub-sampling and surface reconstruction. Modeling accuracy is analyzed afterwards and finally comes to a conclusion that modeling from 3D laser scanning has a great value in virtual reproduction of the objects. Result shows the efficiency of the method addressed in the paper to mode objects.

Path planning for laser scanning with an industrial robot

2008 ◽  
Vol 56 (7) ◽  
pp. 615-624 ◽  
Author(s):  
Sören Larsson ◽  
J.A.P. Kjellander
Keyword(s):  
Path Planning ◽  
Laser Scanning ◽  
Industrial Robot

scholarly journals The Development of Terrestrial Laser Scanning Technology And Its Applications in Mine Shafts in Poland

2020 ◽  
Vol 1 (2) ◽  
Author(s):  
TOMASZ Lipecki ◽  
Kim THI THU HUONG
Keyword(s):  
Laser Scanning ◽  
Full Range ◽  
Laser Scanner ◽  
Mining Industry ◽  
Terrestrial Laser Scanning ◽  
Mechanical Tests ◽  
Scanning Method ◽  
Laser Scanners ◽  
Data Capturing ◽  
Proper Operation

Laser scanners are used more and more as surveying instruments for various applications. With the advance of high precisions systems, laser scanner devices can work in most real-world environments under many different conditions. In the field of mining surveying open up a new method with data capturing. Mining industry requires precise data in order to be able to have a as-built documentation of the facility. Nowadays, the mines are increasingly deepened. For the safe operation of the underground mine, special attention is paid to vertical transport and a set of devices supporting it, mounted in mining shafts. All components must meet stringent criteria for proper operation. The classic geodetic measurements and mechanical tests are long-lasting and do not always provide the full range of information needed about the condition of the object. This paper reports about terrestrial laser scanning method and system mobile terrestrial laser scanning, which has been applied at many vertical shafts in mines of Poland for determining geometric deformation of vertical shaft elements. This system gives high precision 1-3 mm in every horizontal cross – section. Processing time is very quickly and need only few staff to implement all system.

scholarly journals AUTOMATIC INTEGRATION OF LASER SCANNING AND PHOTOGRAMMETRIC POINT CLOUDS: FROM ACQUISITION TO CO-REGISTRATION

2021 ◽  
Vol XLIII-B1-2021 ◽  
pp. 85-92
Author(s):  
T. Partovi ◽  
M. Dähne ◽  
M. Maboudi ◽  
D. Krueger ◽  
M. Gerke
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
High Capacity ◽  
Point Clouds ◽  
Complex Objects ◽  
Initial Image ◽  
Joint Project ◽  
3D Point Clouds ◽  
Image Capturing ◽  
Data Capturing

Abstract. Laser scanning systems have been developed to capture very high-resolution 3D point clouds and consequently acquire the object geometry. This object measuring technique has a high capacity for being utilized in a wide variety of applications such as indoor and outdoor modelling. The Terrestrial Laser Scanning (TLS) is used as an important data capturing measurement system to provide high quality point cloud from industrial or built-up environments. However, the static nature of the TLS and complexity of the industrial sites necessitate employing a complementary data capturing system e.g. cameras to fill the gaps in the TLS point cloud caused by occlusions which is very common in complex industrial areas. Moreover, employing images provide better radiometric and edge information. This motivated a joint project to develop a system for automatic and robust co-registration of TLS data and images directly, especially for complex objects. In this paper, the proposed methods for various components of this project including gap detection from point cloud, calculation of initial image capturing configuration, user interface and support system for the image capturing procedures, and co-registration between TLS point cloud and photogrammetric point cloud are presented. The primarily results on a complex industrial environment are promising.

Mobile robot motion control and autonomous navigation in GPS-denied outdoor environments using 3D laser scanning

2019 ◽  
Vol 39 (3) ◽  
pp. 469-478
Author(s):  
Qifeng Yang ◽  
Daokui Qu ◽  
Fang Xu ◽  
Fengshan Zou ◽  
Guojian He ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Motion Control ◽  
Autonomous Navigation ◽  
Laser Scanning ◽  
Large Scale ◽  
Laser Scanner ◽  
Geometric Feature ◽  
Content Type ◽  
Localization Accuracy ◽  
Novel Approach

Purpose This paper aims to propose a series of approaches to solve the problem of the mobile robot motion control and autonomous navigation in large-scale outdoor GPS-denied environments. Design/methodology/approach Based on the model of mobile robot with two driving wheels, a controller is designed and tested in obstacle-cluttered scenes in this paper. By using the priori “topology-geometry” map constructed based on the odometer data and the online matching algorithm of 3D-laser scanning points, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control. Findings A series of experiments are conducted with a self-designed mobile robot platform in large-scale outdoor environments, and the experimental results show the validity and effectiveness of the proposed approach. Originality/value The problem of motion control for a differential drive mobile robot is investigated in this paper first. At the same time, a novel approach of outdoor localization with 3D-laser scanner is proposed to solve the problem of poor localization accuracy in GPS-denied environments. A path planning strategy based on geometric feature analysis and priority evaluation algorithm is also adopted to ensure the safety and reliability of mobile robot’s autonomous navigation and control.

scholarly journals An automatic shoe-groove feature extraction method based on robot and structural laser scanning

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141667813 ◽  
Author(s):  
Xiaojun Wu ◽  
Zefei Li ◽  
Peizhi Wen
Keyword(s):  
Feature Extraction ◽  
Laser Scanning ◽  
Dimensional Space ◽  
Industrial Robot ◽  
Three Dimensional ◽  
Side Surface ◽  
Three Dimension ◽  
Two Dimensional ◽  
Feature Extraction Method ◽  
Shoe Manufacturing

In order to improve the operational efficiency of robot-based shoe manufacturing, a method of shoe-groove tracking based on industrial robot is presented in the article. First, side surface of a shoe upper with a sole is scanned with a laser scanning device. The presented approach mainly consists of two steps: reconstruction of three-dimensional point cloud and feature curve extraction. It is difficult to extract the closed groove curve on shoe surface. We propose an innovative method to simplify the feature extraction through projecting geometric information from three dimension to two dimension, which is convenient to identify longest groove feature line in two-dimensional space. After detecting the two-dimensional groove line, we back project it to three-dimensional space to identify the three-dimensional thick groove point set. Finally, we thin and fit the groove curve into a trackable sequential curve. The experimental results show that the proposed system can effectively detect the shoe groove and generate trackable sequential curve. We also simulate the robot tracking process in a virtual environment to demonstrate the effectiveness of the presented method.

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