2004 / DB reference year
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Author Fridenfalk, Mikael; Bolmsjo, Gunnar ; Department of Mechanical Engineering, Division of Robotics, Lund University, SE-221 00 Lund, Sweden
Source Ind Robot v 30 Issue:n 5 2003 p 437-448
Abstract This paper presents the design and validation of a universal 6D seam tracking system that reduces the need of accurate robot trajectory programming and geometrical databases in robotic laser scanning. The 6D seam tracking system was developed in the flexible unified simulation environment, integrating software prototyping with mechanical virtual prototyping, based on physical experiments. The validation experiments showed that this system was both robust and reliable and should be able to manage a radius of curvature less than 200 mm. In the pre-scanning mode, a radius of curvature down to 2 mm was managed for pipe intersections at 3 scans/mm, using a laser scanner with an accuracy of 0.015 mm. [References: 21] (Auth abstract) XX