A flexible 3D laser scanning system using a robotic arm

摘要

In this paper, we present a flexible 3D scanning system based on a MEMS scanner mounted on an industrial arm with a turntable. This system has 7-degrees of freedom and is able to conduct a full field scan from any angle, suitable for scanning object with the complex shape. The existing non-contact 3D scanning system usually uses laser scanner that projects fixed stripe mounted on the Coordinate Measuring Machine (CMM) or industrial robot. These existing systems can’t perform path planning without CAD models. The 3D scanning system presented in this paper can scan the object without CAD models, and we introduced this path planning method in the paper. We also propose a practical approach to calibrating the hand–in-eye system based on binocular stereo vision and analyzes the errors of the hand-eye calibration.