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Three-Dimensional Structure Trajectory Guiding Scan and Points Cloud Registration

Three-dimensional visual scanning is an advanced non-contact measurement approach that can obtain a complete surface model of object. But, in the method, the local raster point cloud sets calculated must be registered to a whole. To reduce fluctuating errors and increase efficiency, we propose a new method that scanner can be moved around object guided by pre-planning trajectory of the robot. First, considering the structural parameters of the robot, the Inverse Kinematics Problem of each joint rotating function is derived, and the moving trajectory is simulated. Then, the relationship between the distances of controlled motion and data gotten by scanner is analyzed, a transform matrix which registered the local point cloud sets is deduced, the raster data can be normalized to the world coordinate by it. The experimental results show that error of registration is less than 0.09mm. The method is suited to measuring different targets in robot workspace. It can improve the efficiency and flexibility of visual measurement system.