NDLI: Develop feedback robot planning method for 3D surface inspection

Content Provider	IEEE Xplore Digital Library
Author	Quan Shi Chi Zhang Ning Xi Jing Xu
Copyright Year	2009
Description	Author affiliation: Glass Research at PPG Industries Inc. Cheswick, PA. 15024, USA (Quan Shi) \|\| Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI. 48823, USA (Chi Zhang; Ning Xi; Jing Xu)
Abstract	The non-contact 3D sensing technology, though achieved many success in a variety of applications, needs an automation system to expand its applications to automotive industries for 3D shape inspection. The reason is the difficulty for an operator to find an optimal solution by the manual control of sensor viewpoints. The problem of this industrial application is the capability for the sensing system to simultaneously satisfy all requirements of competence, efficiency, and cost. A robot-aided 3D sensing system can provide such a solution. A CAD-guided robot view planner can automatically generate viewpoints. Measurement accuracy can be satisfied in a certain range. However, the unpredictable image noises still need to be compensated for better measurement performance. In this paper, a feedback planning system is designed and applied to the CAD-guided robot sensor planning system. The feedback controller can automatically evaluate the accuracy of obtained point clouds and generate new viewpoints. This feedback-based inspection system had been successfully implemented in filling holes of a point cloud, caused by shadows and light reflections. Such a system had been implemented on an ABB industrial robot for a 3D measurement of an automotive glass and a pillar. This paper introduces the developed planning system and our current results.
Starting Page	4381
Ending Page	4386
File Size	858289
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5353960
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback Inspection Robotics and automation Service robots Robot sensing systems Electrical equipment industry Automotive engineering Clouds Shape Human factors
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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