| Campo DC | Valor | Idioma |
|---|
| dc.contributor.author | Idrobo Pizo, Gerardo Antonio | - |
| dc.contributor.author | Motta, José Maurício Santos Torres | - |
| dc.contributor.author | Sampaio, Renato Coral | - |
| dc.date.accessioned | 2020-02-12T14:03:33Z | - |
| dc.date.available | 2020-02-12T14:03:33Z | - |
| dc.date.issued | 2019-04-14 | - |
| dc.identifier.citation | IDROBO-PIZO, Gerardo Antonio; MOTTA, José Maurício S. T.; SAMPAIO, Renato Coral. A calibration method for a laser triangulation scanner mounted on a robot arm for surface mapping. Sensors, v. 19, n. 8, 1783, 2019. DOI: https://doi.org/10.3390/s19081783. Disponível em: https://www.mdpi.com/1424-8220/19/8/1783. | pt_BR |
| dc.identifier.uri | https://repositorio.unb.br/handle/10482/36893 | - |
| dc.language.iso | Inglês | pt_BR |
| dc.publisher | MPDI | pt_BR |
| dc.rights | Acesso Aberto | pt_BR |
| dc.title | A calibration method for a laser triangulation scanner mounted on a robot arm for surface mapping | pt_BR |
| dc.type | Artigo | pt_BR |
| dc.subject.keyword | Calibração - sistema de varredura | pt_BR |
| dc.subject.keyword | Digitalização a laser | pt_BR |
| dc.subject.keyword | Triangulação | pt_BR |
| dc.subject.keyword | Robótica | pt_BR |
| dc.subject.keyword | Mapeamento de superfície | pt_BR |
| dc.subject.keyword | Soldagem robótica | pt_BR |
| dc.subject.keyword | Turbinas | pt_BR |
| dc.rights.license | © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). | pt_BR |
| dc.identifier.doi | https://doi.org/10.3390/s19081783 | pt_BR |
| dc.description.abstract1 | This paper presents and discusses a method to calibrate a specially built laser triangulation
sensor to scan and map the surface of hydraulic turbine blades and to assign 3D coordinates to a
dedicated robot to repair, by welding in layers, the damage on blades eroded by cavitation pitting
and/or cracks produced by cyclic loading. Due to the large nonlinearities present in a camera and
laser diodes, large range distances become di cult to measure with high precision. Aiming to
improve the precision and accuracy of the range measurement sensor based on laser triangulation,
a calibration model is proposed that involves the parameters of the camera, lens, laser positions,
and sensor position on the robot arm related to the robot base to find the best accuracy in the distance
range of the application. The developed sensor is composed of a CMOS camera and two laser diodes
that project light lines onto the blade surface and needs image processing to find the 3D coordinates.
The distances vary from 250 to 650 mm and the accuracy obtained within the distance range is below
1 mm. The calibration process needs a previous camera calibration and special calibration boards to
calculate the correct distance between the laser diodes and the camera. The sensor position fixed on
the robot arm is found by moving the robot to selected positions. The experimental procedures show
the success of the calibration scheme. | pt_BR |
| dc.identifier.orcid | https://orcid.org/0000-0003-3970-4219 | pt_BR |
| dc.description.unidade | Faculdade UnB Gama (FGA) | - |
| Aparece nas coleções: | Artigos publicados em periódicos e afins
|
