Open Access Thesis
Date of Award
Industrial and Manufacturing Engineering
Jeremy L. Rickli
This research work describes the geometric coordinate transformation in an automated laser line scanning system caused by movements required for scanning a component surface. The elements of an automated laser scanning system (robot, laser line scanner, and the component coordinate system) function as a mechanical linkage to obtain a trajectory on a component surface. This methodology solves the forward kinematics, derives the component surface, and uses inverse kinematic equations to characterize the movement of the entire automated scanning system on point trajectory. To reach a point on the component, joint angles of robot have been calculated. As a result, trajectory path is obtained. This obtained robot poses on point trajectory of the component surface can be used as an input for future work that aims to develop optimal scan paths to collect “best” point cloud data sets. This work contributes in laser scanning inspection of component surfaces in manufacturing, remanufacturing, and reverse engineering applications.
Deshmukh, Kiran Sunil, "Kinematic Modeling Of An Automated Laser Line Scanning System" (2016). Wayne State University Theses. 471.