<title>Versatile multimodal system for surface profile measurements using a wrist-mounted laser device</title>

摘要

In this paper we describe development and integration of a point laser sensor for precise proximity measurements and surface characterization in a robotic workcell. The proximity measurement and surface characterization system utilizes a commercially available point laser device. The device is small in size and its light weight allows for easy mounting on the end- effector of an industrial robotic arm. The system has three operational modes: point measurement, line profile measurement, and surface image measurement. All of the necessary calibration techniques, computer and robot controller interfaces, and data acquisition and processing algorithms have been developed and extensively tested. These tests have indicated that the system is able to provide submillimeter measurement accuracy and is very efficient. Point measurements can be made instantaneously, and the line and grid measurements can be performed in seconds to minutes, depending upon the desired resolution. These features along with the low cost, and three operational mode versatility makes this system quite unique and of practical utility. The system has proven very valuable in proximity research in active exploration of robotic workcells.