An application of a robotic system integrated with a vision system is presented. The robot is a 3-axis revolute prototype, while\r\nthe vision system essentially consists in a laser scanner made up of a camera and a linear laser projector. Both the robotic and\r\nthe video system were designed and built at DIME (Department of Mechanical Engineering for Energetics), University of Naples\r\nFederico II. The presented application essentially consists of a laser scanner that is installed on the robot arm; the scanner scans\r\na 3D surface, and the data are converted in a cloud of points in the robot�s workspace. Then, starting from those points, the endeffector\r\ntrajectories adopted to replicate the scanned surface are calculated; so, the same robot, by using a tool, can reproduce the\r\nscanned object. The software was developed also at the DIME. The adopted tool was a high-speed drill, installed on the last link of\r\nthe robot arm, with a spherical milling cutter in order to obtain enough accurate surfaces by the data represented by the cloud of\r\npoints. An algorithm to interpolate the paths and to plan the trajectories was also developed and successfully tested.
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