3D mapping using a ToF camera for self programming an industrial robot

Authors

N Larkin, University of WollongongFollow
Zengxi Pan, University of WollongongFollow
S van Duin, University of WollongongFollow
J Norrish, University of WollongongFollow

RIS ID

81575

Publication Details

Larkin, N., Pan, Z., van Duin, S. & Norrish, J. (2013). 3D mapping using a ToF camera for self programming an industrial robot. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 494-499). United States: IEEE.

Abstract

Automated Offline Programing (AOLP) is a cost effective robot programming method. However, it relies on accurate CAD information of the work environment to perform optimally. Incorrect CAD data is a known source of error for AOLP systems. This paper introduces a new sensor based method of programming that extends the concept of AOLP. Using a ToF camera to map the environment, there is no reliance on CAD data. The problem of motion planning to efficiently map the environment is examined and changes to the motion planning algorithm are proposed and tested.