Localization of 3-D Objects Having Complex Sculptured Surfaces Using Tactile Sensing and Surface Description

[+] Author and Article Information
K. C. Sahoo, Chia-Hsiang Menq

Department of Mechanical Engineering, The Ohio State University, Columbus, OH 43210

J. Eng. Ind 113(1), 85-92 (Feb 01, 1991) (8 pages) doi:10.1115/1.2899626 History: Received December 01, 1988; Revised October 01, 1989; Online April 08, 2008


This paper presents a method for locating 3-D objects having complex and sculptured surfaces. Among many complex shaped objects, dies, molds, gears, turbine blades, forged parts, and aerospace structural parts are some examples of particular interest. Locating a part amounts to finding a rigid body transformation between the part coordinate frame and the machine coordinate frame. The presented method determines position and orientation of an object by minimizing the sum of the squared distances of the measurement points from the surface of the object with respect to the parameters of transformation. Tactile sensing by Coordinate Measurement Machine (CMM) has been used as the means of measurement. A criterion for selecting measurement points to avoid singularity and help achieve better accuracy of the solutions has also been discussed. Computer simulation of the algorithm has been performed on objects of various shapes and numerical problems encountered are discussed. Experimental implementation of the method for integration of the algorithm with inspection process is also illustrated.

Copyright © 1991 by The American Society of Mechanical Engineers
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