Abstract
In this chapter various laser sensors based robot vision systems and their applications are presented. Three kinds of visual sensing and control applications are discussed including measurement and inspection, identification and localization, and visual servoing. In the area of measurement and inspection, the method for detecting the position and orientation of holes or channels in a 3D space is presented in Section 7.1, where a camera and a laser point sensor are used. A robotic grinding system for a complex surface work piece is presented in Section 7.2 where the laser stripe sensor is used to measure and locate the work piece. A profile modeling based grinding approach is presented and discussed in Section 7.3 where a 3D laser stripe sensor and a LVDT are used for measuring, fine-tune and on-line quality control. A flexible robotic machining system that can compensate for parts shape variations is presented in Section 7.5, where the individual parts are measured by a laser stripe sensor and the measured data are used as feedback for the robot controller. A highly accurate relative measurement robot system is presented in Section 7.6, which is used to measure the material removal of a free-form work piece in the grinding process.
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© 2011 Zhejiang University Press, Hangzhou and Springer-Verlag Berlin Heidelberg
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Gan, Z., Tang, Q. (2011). Visual Sensing and Control-Laser Sensor Based Robot Applications. In: Visual Sensing and its Applications. Advanced Topics in Science and Technology in China. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18287-7_7
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DOI: https://doi.org/10.1007/978-3-642-18287-7_7
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