Autonomous robotic sensing for simultaneous geometric and volumetric inspection of free-form parts

2022

Robotic sensing is used in many sectors to improve the inspection of large and/or complex parts, enhancing data acquisition speed, part coverage and inspection reliability. Several automated or semi-automated solutions have been proposed to enable the automated deployment of specific types of sensors. The trajectory to be followed by a robotic manipulator is typically obtained through the offline programmed tool paths for the inspection of a part. This method is acceptable for a part with known geometry in a well-structured and controlled environment. The part undergoing assessment needs to be precisely registered with respect to the robot reference system. It implies the need for a setup p…