Redundant Manipulator based Autonomous Scanning for Unknown Variable Cross-section Pipe
A laser scanning device installed at the end of the redundant manipulator is designed,in order to solve the problem of autonomous scanning and model reconstruction for unknown variable cross-section pipe.Firstly,the chosen laser range sensor and the scanner head structure which can rotate 360 degrees are described.Secondly,measurement model is built and a cross-section intersection based forward scanning method (CIFSM) for unknown variable cross-section pipe with our laser scanning device is put forward.Thirdly,a hypothetical boundary based obstacle avoidance scanning path planning algorithm (HBSPPA) is proposed.In scanning experiments,two representative cross-section shapes can both be scanned autonomously and rebuilt accurately in coordinate system of redundant manipulator.The results demonstrate that the proposed device and method are effective and practical.
Autonomous scanning scanning path planning variable cross-section pipe redundant manipulator laser scanning device
WANG Guolei TAN Jiubin ZHANG Chuanqing YIN Huabin
Center of Ultra-precision Optoelectronic Instrument, Harbin Institute of Technology, Harbin 150080, Department of Mechanical Engineering, Academy of Armored Force Engineering,Beijing 100072,China Department of Manufacturing Engineering, Chengdu AircraftIndustrial(Group)Co.,Ltd, Chengdu 610092,Ch
国际会议
2012第八届精密工程测量和仪器仪表国际研讨会(ISPEMI2012)
成都
英文
1-6
2012-08-08（万方平台首次上网日期，不代表论文的发表时间）