A Robotic System for Surface Measurement Via 3D Laser Scanner

摘要

This paper presents a robotic system for surface measurement, and which was designed in the form of "Scanner + Robot + Position-adjustor". Firstly, the main components in the system are briefly introduced and the working principles are described. Then, a series of key problems involved in the system, which mainly including coordinate transformation, data processing and surface reconstruction, are emphatically researched and consequently, the corresponding solutions are put forward. Lastly, the principles and algorithms mentioned are implemented in software, so as to realize the course of measurement. Using this system, the surface model of work piece can be established quickly and conveniently, which have extensive applied foreground.