Wertjanz, D., Kern, T., Csencsics, E., & Schitter, G. (2023). Residual error correction for reducing the uncertainty of a sample-tracking robotic 3D measurement system. In H. Ishii, Y. Ebihara, J. Imura, & M. Yamakita (Eds.), 22nd IFAC World Congress (pp. 4418–4423). Elsevier. https://doi.org/10.1016/j.ifacol.2023.10.1829
Mechatronic systems; robotic 3D measurement systems; scanning optical sensors; motion compensation and correction; application of mechatronic principles; design methodologies
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Abstract:
This paper presents a method for post-correction of disturbing relative motion between a robotic 3D measurement system and a sample under test. The active sample-tracking measurement platform carries a high-precision scanning confocal chromatic sensor acts as an end-effector of a robot, targeted for operation in a vibration-prone environment. The proposed method does not require any additional hardware and enables a point-by-point correction of the sequentially acquired 3D point cloud by the measured residual sample-tracking error. For experimental measurements at the maximum frame rate of 1fps in a workshop-like environment, which induces a resonant 47 Hz relative motion, the axial measurement error and uncertainty is reduced by 20% to 0.19µm and 0.25 µm, respectively.
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Research Areas:
Mathematical and Algorithmic Foundations: 50% Sensor Systems: 50%
