Non-contacting 3D Measurement System Integrating Webcam Camera and Laser Projector for Fast Industrial Robot Assembly Implementations

• Main Author: LE THAI SON
• Other Authors: Lin Chyi-Yeu
• Format: Others
• Language: en_US
• Published: 2016
• Online Access: http://ndltd.ncl.edu.tw/handle/95425817230883478582

碩士 === 國立臺灣科技大學 === 機械工程系 === 104 === This thesis presents a 3D measurement system combining webcam camera and laser projectors as a non-contacting method for fast robot operations. Two types of laser projector comprising the pointer laser and the line laser are used to obtain 3D information by tracking laser projection on image plane and then calculating its 3D positions in camera coordinate. The system is integrated to an industrial 6-axis robot arm with implementing the hand-eye calibration method so that the scanned 3D points from the camera coordinate can be transformed to the robot coordinate. The whole integration system has been tested on the socket insertion task that demands a high precision requirement. The result from exemplification indicated that system’s precision is and can satisfy many robot arm operated assembly tasks.