Modeling of a robot-based measuring system for remanufacturing

摘要

To resolve the measurement problem of remanufacturing workpieces,a seven degrees of freedom(DOF) platform composed of a rotary table and 6 DOF industrial robots with line-structured-light vision scanner was established.A mathematic model for the measuring system was made by using homogeneous coordinate transform principle,and the transformation from the robot hand to the scanner was determined by measuring a fixed point from different poses.The method for calibrating rotary axis was also given.The accuracy of the modeling is proved by the real experiments for a shaft.