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A real-time position and posture measurement device for painting robot

In the painting process using a painting robot, the spray end effector needs to be kept on with a special position and posture relative to the painting plane. In order to satisfy the needs of high performance painting robots, a new measurement device which is composed of one camera, three spot lasers, and an embedded visual processing board based on DSP and FPGA, is designed. This device can measure the position and posture of the end effector of the painting robots in real-time and can be installed on a robot easily, since it is small in size and light in weight. Experiment shows that, both the speed and the precision of this measurement device can meet the requirements of painting robots well.