Research On 3D Shape Flexible Robotic Measurement Of Complex Surface

3D shape measurement of large-scale complex surface often requires high flexibility,precision and degree of automation.As a typical flexible platform,industrial robot has a high degree of movement flexibility.The 3D shape flexible measurement system combined with optical non-contact Morphology sensor and industrial robot can have both the advantages;however,the splicing accuracy of points cloud is low.On this basis,a new 3D shape flexible measurement technology for large-scale complex surface is proposed and investigated.This paper investigated large-scale surface measurement equipment and flexible measurement techniques,and proposed a scheme to improve the accuracy of points cloud splicing by introducing iGPS.In this method,the world coordinate system of iGPS is used as the splicing coordinate system of points cloud,and the robot is only as a moving mechanism,which is no longer involved in the precision chain.A calibration method based on the feature points fitting was proposed.The transformation relationship was established with a laser tracker and identified by the constraint of feature points and the algorithm of Rodrigues matrix.The 3D shape flexible measurement system of large-scale complex surface was established with ATOS 3D optical scanner,Yaskawa-Hp20 D robot and iGPS,and accuracy verification experiments were carried out.The verification experimental results show that the repeatability accuracy(3?)of measurement system is better than 0.1mm,the RMS error of distance is not exceed 0.2mm,and the RMS error of points cloud stitching is within ±0.4mm.The overall design of measurement system is reasonable,and the calibration method and accuracy are effective.The designed measurement system can meet the requirements of general measurement.