로봇과 3D 스캐너를 이용한 자동차 부품 자동측정 시스템

The paper presents a measurement system of car components using a serial robot and 3D scanner. For measurement automation, we introduce a robot system. A serial robot equipped with 3D scanner moves over the fixed target and scan it. The system consists of three parts which are robot, scanner and simulator part. Our research concentrates on avoiding collision between robot and target. We consider collision as an inverse kinematics problem. For a robot moving without collision, we should solve the inverse kinematics with an object in its workspace. To accomplish this task, graphical method is an effective solution by controlling its configuration. We conducted experiments to confirm the safety of our method.