Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
AUTOMATIC INSPECTION OF CYLINDRICAL FASTENERS USING 2D LASER SCANNER FOR ROBOTIC CELL
Submission Author:
Kleber Roberto da Silva Santos , SP
Co-Authors:
Kleber Roberto da Silva Santos, Gustavo Carvalho, Rodrigo Tanure Tricarico, Luiz Fernando Lapetina Rocha Ferreira, Emilia Villani
Presenter: Kleber Roberto da Silva Santos
doi://10.26678/ABCM.COBEM2019.COB2019-1255
Abstract
The paper presents the comparative test between computational algorithms, linear scanning trajectories and target positioning to identify the distance between centers of cylindrical fasteners installed in a flat test board through the analysis of a three-dimensional point cloud matrix. The scanning point cloud is generated experimentally in an automated way using a 2D laser scanner sensor attached to a 7DOF industrial robotic manipulator. The manipulator performs linear movements in the Y direction, with determined steps and no overlapping of scanned regions in two different way, while the sensor captures the distances in the X and Z direction between its sensor region and the surface in front of it. Four computational algorithms were tests to extraction of center position and distance between centers. To evaluate the methodology created, a three-factor factorial experiment was designed to prove the effectiveness of the method and select the best configuration of techniques to minimize the measurement error. The results show that the methodology was able to estimate the distance between centers and the best set of identified factors presented a median error around 0.04mm and variability of 0.18mm, proving the effectiveness of the method.
Keywords
Automated inspection, Point-Cloud, industrial robotic manipulators, 2D laser scanner, 3D scanning, Design of Experiment (DOE)
