Metrological integration and automation of surface topography measuring instruments on cobots

SEE OUR PUBLICATION: G. Maculotti, G. Genta, K. Aliev, M. Galetto. Metrological integration and automation of surface topography measuring instruments on cobots (1.06 MB). PROCEDIA CIRP, (2024), 10.1016/j.procir.2024.08.365.

Abstract: Integrating surface topography measuring instruments on cobots allows fast and automated inspection procedure, while reaching undercuts and overhanging surfaces typical of freeform components. A methodology is proposed to achieve such integration within a metrological framework, while targeting extended surface measurements. A machine learning algorithm is developed based on Bayesian approaches to optimize registration and stitching of the measured field-of-views. Nominal cobot positions are exploited for initialization, and calibrated motion axes metrological characteristics are used to bound the parameter space search domain. The methodology is demonstrated on a custom developed system, integrating a focus variation Alicona IF-SensorR25 and a Yaskawa Motoman-HC20DTP cobot