Viewpoint Planning of Robot Measurement System Based on V-REP Platform

Automated inspection, in the form of robot measurement system, has attracted wide attention in industry. The aim of this paper is to present a new viewpoint planning method that is based on V-REP platform. As the basis of viewpoint planning, we developed a virtual simulation module for simulating scanning area. An improved grid method which is aimed to find the viewpoints on the blade surface based on curvature analysis is proposed. In order to ensure that the scanning area can cover the whole blade surface, an iteration algorithm which can recognize and eliminate the unscanned area based on the virtual simulation module is established. Compared with the existing solutions, our system considers the robot accessibility while viewpoint planning. Finally, we output pseudo-color images compared with the original CAD model based on registration of scanning point clouds. The experimental results show that we have established an effective solution for viewpoint planning of robot measurement system.