SPGS: A New Method for Autonomous 3D Reconstruction of Unknown Objects by an Industrial Robot

Uyanik, Cihan; Secil, Sezgin; Özkan, Metin; Dutağacı, Helin; Turgut, Kaya; Parlaktuna, Osman

doi:10.1007/978-3-319-96728-8_2

Cited by 5 publications

(5 citation statements)

References 14 publications

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“…Furthermore, there are live-tracking approaches, where a sensor system constantly supervises the position of the robot. This can be achieved by monitoring a specimen using a camera in the robot's end effector [30] or by a optical sensor that is frequently referencing itself using a fixed point [31]. A more large-scale tracking approach uses Indoor-GPS providing a positioning accuracy of typically 0.1 mm [32][33][34].…”

Section: Methods For Accuracy Enhancementsmentioning

confidence: 99%

Evaluation of the impact of faulty scanning trajectories in robot-based x-ray computed tomography

Hiller¹,

Landstorfer²,

Marx³

et al. 2020

Meas. Sci. Technol.

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X-ray computed tomography (CT) imaging for industrial applications is limited to certain physical conditions to be fulfilled. The size of the measuring object and the accumulated wall thickness are two fundamental conditions. An omission of these conditions by not capturing object attenuation information by the x-ray detector leads to missing data in the 3D reconstruction process and results as a consequence in image degradation and artifacts. Conventional industrial x-ray CT is based on cone-beam projections and circular or helical scanning trajectories using linear axis and a rotary (lift) table. For many inspection tasks on big-sized or unusually shaped objects the physical limits for obtaining a sufficient high image quality are reached very quickly when using conventional CT systems. Industrial six-axis robots offer much more flexibility with respect to the conditions mentioned earlier and can overcome the limitations of conventional scanners. In the present work we characterized an industrial six-axis robot in its working space following ISO 9283 in terms of pose accuracy and pose repeatability. These results are then used to simulate faulty scanning trajectories in terms of pose deviations where a single robot is used as an object manipulator to rotate virtual specimens on a circular trajectory resulting in different (faulty) reconstruction datasets. These datasets are evaluated visually and by using performance parameters and geometrical features in order to determine the reproduction fidelity (performance) of a one arm robot-based CT system depending on different pose errors. With the results obtained it was shown that a robot-based CT system of type B (in our classification scheme) using one robot as object manipulator should be able to reach a spatial resolution power in the range of the voxel size (in our case 200 µm) and smaller (neglecting effects from focal spot size, detector unsharpness from x-ray to light conversation and scatter radiation) if systematic pose errors are compensated using appropriate calibration methods.

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Section: Methods For Accuracy Enhancementsmentioning

confidence: 99%

Evaluation of the impact of faulty scanning trajectories in robot-based x-ray computed tomography

Hiller¹,

Landstorfer²,

Marx³

et al. 2020

Meas. Sci. Technol.

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“…For this reason, several types of methods for the measurement of deviations were created, specifically a sensoric system for the continuous measurement and monitoring of a robots' positions, for example, by the monitoring of the test sample by means of a camera placed on the robot's end effector or by means of sensors. 8,9 Other approaches in the prevention are continuous calibration of the robot by means of X-rays, laser monitors or by means of the combination of a laser pointer and a camera. Another approach is the establishing of a mathematical model, including rigidness, temperature variations, joint plays and geometrical parameters.…”

Section: State Of Artmentioning

confidence: 99%

Section: State Of Artmentioning

confidence: 99%

Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Pollák

Kočiško

Paulišin

et al. 2020

Advances in Mechanical Engineering

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The article describes the measurement of unidirectional pose accuracy and repeatability of a collaborative robot. The objective of the measurements is to investigate and evaluate unidirectional accuracy of the six-axis collaborative robot UR5 of the company Universal Robots. The measurement methodology was based on outlining an imaginary ISO cube placed in the robot’s workspace, in which the robot’s tool centre point (TCP) attained five measurement points in thirty measurement cycles. A video camera and six linear incremental sensors with six evaluation units were used for the measurement. The measured values are presented and applied according to the ISO 9283 standard. On the basis of the measurement, we verified technical specifications of unidirectional pose accuracy and repeatability of the robotic arm UR5 specified by its producer.

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“…Firstly, there are live-tracking approaches, where a sensor system constantly supervises the robots position. This can be achieved by watching the specimen using a camera in the Robot's end effector [6] or by a Sensor that is frequently referencing itself using a fixpoint [7]. Tracking in a larger scale can be found as "indoor-GPS" [8].…”

Section: Robotmentioning

confidence: 99%

Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

Landstorfer¹,

Hiller²,

Herbst³

2019

eJNDT

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In this research work we investigated the accuracy of a standard industrial robot. We wanted to find out, how accurate an X-Ray Computed Tomography (CT) scan can be performed when using such a robot as a manipulator. The accuracy was measured using a laser-interferometer. The measured deviations were used to run an X-Ray simulation via Fraunhofer EZRT’s Scorpius X-Lab. Metrological analysis was performed as a measure for the quality of the simulated CT-scan. The metrological deviations reflect the feasible accuracy of a CT-scan in a real CT-setup.

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SPGS: A New Method for Autonomous 3D Reconstruction of Unknown Objects by an Industrial Robot

Cited by 5 publications

References 14 publications

Evaluation of the impact of faulty scanning trajectories in robot-based x-ray computed tomography

Evaluation of the impact of faulty scanning trajectories in robot-based x-ray computed tomography

Measurement of unidirectional pose accuracy and repeatability of the collaborative robot UR5

Investigation of positioning accuracy of industrial robots for robotic-based X-ray computed tomography

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