The Use of 2D/3D Sensors for Robotic Manipulation for Quality Inspection Tasks

Industrial robots are mostly designed for tasks where working conditions are well known and do not change over time. However, there are many examples where robots require vision sensor-based control in order to perform complex operations and react to changes in the environment. Other areas where there is need for combining vision sensors with manipulators are quality inspection tasks of large or complex structured objects. The paper presents an overview of the methods used in robotic vision systems, taking into account their specific requirements and advantages. Experimental studies of a selected 2D/3D sensors mounted on industrial manipulators are presented including analysis of collected 3D points clouds. Additionally, a system of a reconfigurable manipulator that interchangeably uses various sensors and tools in complex inspection tasks is presented.