Abstract
An algorithm which can efficiently generate collision-free paths for coordinate measuring machines is described. Coordinate measuring machines are specialized 3-degree-of-freedom (DOF) gantry robots with 2-DOF revolute wrists used for the dimensional inspection of manufactured parts. The complex 5-DOF configuration of the coordinate measuring machine is reduced to a 3-dimensional configuration space by using heuristics to fix the orientation of the 2-DOF wrist during motion.
A manufactured part is represented as a boolean combination of the geometric primitives block, slot and hole (e.g. the features). A feature-based configuration space (C-space) approach provides an efficient method to construct the C-space transforms of complex manufactured objects. This work restricts itself to inspection path planning for objects without intersecting geometric features.
The algorithm assumes an a priori known set of points to be inspected by the coordinate measuring machine. The feature based C-space transform of the part is constructed, inspection points in C-space are grouped into collision free areas, and connected using minimum path connection algorithms. Results for typical parts are presented.
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Merat, F.L., Jeon, O. (1993). Feature Based, Collision Free Inspection Path Planning. In: Sterling, L.S. (eds) Intelligent Systems. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-2836-4_5
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DOI: https://doi.org/10.1007/978-1-4615-2836-4_5
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