Redundant manipulator based autonomous scanning for unknown variable cross-section pipe

Guolei Wang; Jiubin Tan; Chuanqing Zhang; Huabin Yin

doi:10.1117/12.2014865

31 January 2013 Redundant manipulator based autonomous scanning for unknown variable cross-section pipe

Guolei Wang, Jiubin Tan, Chuanqing Zhang, Huabin Yin

Proceedings Volume 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation; 875906 (2013) https://doi.org/10.1117/12.2014865
Event: International Symposium on Precision Engineering Measurement and Instrumentation 2012, 2012, Chengdu, China

Abstract

A laser scanning device installed at the end of the redundant manipulator is designed, in order to solve the problem of autonomous scanning and model reconstruction for unknown variable cross-section pipe. Firstly, the chosen laser range sensor and the scanner head structure which can rotate 360 degrees are described. Secondly, measurement model is built and a cross-section intersection based forward scanning method (CIFSM) for unknown variable cross-section pipe with our laser scanning device is put forward. Thirdly, a hypothetical boundary based obstacle avoidance scanning path planning algorithm (HBSPPA) is proposed. In scanning experiments, two representative cross-section shapes can both be scanned autonomously and rebuilt accurately in coordinate system of redundant manipulator. The results demonstrate that the proposed device and method are effective and practical.

Citation Download Citation

Guolei Wang, Jiubin Tan, Chuanqing Zhang, and Huabin Yin "Redundant manipulator based autonomous scanning for unknown variable cross-section pipe", Proc. SPIE 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation, 875906 (31 January 2013); https://doi.org/10.1117/12.2014865

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