CAD-Based Sensor planning
Abstract:
Accurate, efficient
dimensional inspection of finished parts is essential to
manufacturing industries. Among the many existing 3-D inspection
techniques, structured light is one of the well-known methods
that have been successfully employed in various applications in
the past decades. In this method, the positioning of camera is
very critical, which affects the accuracy and efficiency of the
whole inspection directly. Traditional techniques deal with the
camera positioning in a non-automatic way and thus suffer human
errors and low efficiency.
We are aiming at developing a CAD-guided camera positioning system to aid the 3-D part inspection. This system utilizes the CAD information of the inspected part and the camera model to plan camera configurations which satisfy certain task constraints. An eye-in-hand robot setup is used to carry out the inspection task. This system can be applied to the dimensional inspection of parts with freeform surfaces, such as automobile door panels.
This project is cooperated with Ford Automobile Company.
Researchers: Weihua Sheng
Publication:
W.Sheng, N. Xi, M.Song, Y.Chen "Graph-based Surface Merging in CAD-guided Dimensional Inspection of Automotive Parts". ICRA2001, Seoul, Korea.
W.sheng, N.Xi, M.Song, Y.Chen "CAD-Guided Robot Motion Planning". Industrial Robot, 2001.
W.Sheng, N.Xi, M.Song, Y.Chen, "Sensor planning with kinematics constraint for dimensional inspection of sheet metal parts". IROS2001. Hawaii, USA.
Weihua Sheng, Ning Xi, Mumin Song, Yifan Chen, James S. Rankin III, "Automated CAD-Guided Automobile Part Dimensional Inspection", Proceedings of 2000 IEEE international conference on robotics and automation,1157--1162, 2000.
Weihua Sheng, Ning Xi and Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III, Perry MacNeille", "CAD-based Sensor Planning for Dimensional Inspection", 2000 Japan-USA Symposium on Flexible Automation, 2000.
Weihua Sheng, Ning Xi, Mumin Song, Yifan Chen, James S. Rankin III, Perry MacNeille, "CAD-Guided Robot Motion Control for Sensor Planning",WACONG 2000, 2000.
Ning Xi, Weihua Sheng, Jindong Tan, Mumin Song, Yifan Chen, James S. Rankin III, "Robot Motion Control in Automated Automotive Part Inspections", The Third Asian Control Conference, 2000.
Weihua Sheng, Ning Xi, Mumin Song, Yifan Chen, Perry MacNeille, "Automated CAD-Guided Robot Path Planning for Spray Painting of Compound Surfaces", 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000.
Return to Current Projects