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Proceedings Paper

Redundant manipulator based autonomous scanning for unknown variable cross-section pipe
Author(s): Guolei Wang; Jiubin Tan; Chuanqing Zhang; Huabin Yin
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Paper 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.

Paper Details

Date Published: 31 January 2013
PDF: 6 pages
Proc. SPIE 8759, Eighth International Symposium on Precision Engineering Measurement and Instrumentation, 875906 (31 January 2013); doi: 10.1117/12.2014865
Show Author Affiliations
Guolei Wang, Harbin Institute of Technology (China)
Jiubin Tan, Harbin Institute of Technology (China)
Chuanqing Zhang, Academy of Armored Force Engineering (China)
Huabin Yin, Chengdu Aircraft Industrial Group Co., Ltd. (China)


Published in SPIE Proceedings Vol. 8759:
Eighth International Symposium on Precision Engineering Measurement and Instrumentation
Jie Lin, Editor(s)

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