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Framework for simulation-based Trajectory Planning and Execution of Robots equipped with a Laser Scanner for Measurement and Inspection

Kaiser, Jan-Philipp; Becker, Sven Norbert; Wurster, Marco; Stricker, Nicole; Lanza, Gisela

Shorter product life cycles require ever faster planning processes for the manufacturing of products. This also applies for measuring processes to ensure compliance with geometric workpiece specifications. In addition, these processes must be designed to be increasingly flexible since mass customization steadily increases product variety. Laser scanning systems mounted on robots offer the possibility of measuring a wide variety of geometries with low measurement uncertainty. In this paper, a method is presented with which measurement trajectories can be planned and virtually validated. We thereby combine and extend existing trajectory planning approaches and explicitly integrate robot kinematics into the planning approach to account for feasibility of the planned trajectories. These can then be directly transferred to the available measurement system. This is enabled by a real time interface directly connecting a virtual environment for measurement simulation and the real measurement system.

Verlagsausgabe §
DOI: 10.5445/IR/1000140337
Veröffentlicht am 25.11.2021
DOI: 10.1016/j.procir.2021.10.047
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Produktionstechnik (WBK)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2021
Sprache Englisch
Identifikator ISSN: 2212-8271
KITopen-ID: 1000140337
Erschienen in 9th CIRP Global Web Conference – Sustainable, resilient, and agile manufacturing and service operations : Lessons from COVID-19. Ed.: K. Medini
Veranstaltung 9th CIRP Global Web Conference (CIRPe 2021), Online, 26.10.2021 – 28.10.2021
Verlag Elsevier
Seiten 292-297
Serie Procedia CIRP ; 103
Schlagwörter Trajectory planning; Robotic; ROS; CoppeliaSim; Laser scanning; Virtual validation; Simulation
Nachgewiesen in Scopus
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