Tehnički vjesnik, Vol. 24 No. 1, 2017.
Izvorni znanstveni članak
https://doi.org/10.17559/TV-20160504230058
Automatic teaching of a robotic remote laser 3D processing system based on an integrated laser-triangulation profilometry
Matija Jezeršek
; University of Ljubljana, Faculty of Mechanical Engineering, Aščkerčeva 6, 1000 Ljubljana, Slovenia
Matjaž Kos
; University of Ljubljana, Faculty of Mechanical Engineering, Aščkerčeva 6, 1000 Ljubljana, Slovenia
Hubert Kosler
; Yaskawa Slovenija, Lepovče 23, 1310 Ribnica, Slovenia
Janez Možina
; University of Ljubljana, Faculty of Mechanical Engineering, Aščkerčeva 6, 1000 Ljubljana, Slovenia
Sažetak
One of the key challenges in robotic remote laser 3D processing (RL3DP) is to achieve high accuracy for the laser’s working trajectory relative to the features of the workpiece. This paper presents a novel RL3DP system with an automatic 3D teaching functionality for a precise and rapid determination of the working trajectory which comprises a robot manipulator, 3D scanning head, fibre laser and an off-axis positioned camera. The 3D measurement is based on laser triangulation with laser-stripe illumination using the laser’s pilot beam and scanning head. The experimental results show that the system has a precision better than 70 μm and 120 μm along lateral and vertical direction respectively inside the measuring range of 100 × 100 mm. The teaching time is 30-times shorter compared to a visual teaching procedure. Therefore, such a system can lead to large cost reductions for modern production lines that have constant changes to the products’ geometries and functionalities.
Ključne riječi
edge detection; laser triangulation; remote laser processing; robot teaching; three-dimensional measurement
Hrčak ID:
174704
URI
Datum izdavanja:
10.2.2017.
Posjeta: 1.928 *