Automatic Contact-Based 3D Scanning Using Articulated Robotic Arm

TL;DR

This paper introduces an open-loop robotic system for contact-based 3D scanning of objects, capable of automatic, accurate, and repeatable scans of freeform surfaces in STL format.

Contribution

The paper presents a novel articulated 6-DoF robotic system that automates contact-based 3D scanning with inverse kinematics and trajectory planning, producing compatible STL files.

Findings

System achieves high accuracy and repeatability.

Capable of scanning freeform surfaces automatically.

Produces standard STL format for compatibility.

Abstract

This paper presents an open-loop articulated 6-degree-of-freedom (DoF) robotic system for three-dimensional (3D) scanning of objects by contact-based method. A digitizer probe was used to detect contact with the object. Inverse kinematics (IK) was used to determine the joint angles of the robot corresponding to the probe position and orientation, and straight-line trajectory planning was implemented for motion. The system can take single-point measurements and 3D scans of freeform surfaces. Specifying the scanning area's size, position, and density, the system automatically scans the designated volume. The system produces 3D scans in Standard Triangle Language (STL) format, ensuring compatibility with commonly used 3D software. Tests based on ASME B89.4.22 standards were conducted to quantify accuracy and repeatability. The point cloud from the scans was compared to the original 3D model of the object.