MULTI-LASER DISPLACEMENT SENSOR USED IN ACCURATE DIGITIZING TECHNIQUE

This paper presents a new technique for digitizing an unknown sculptur ed surface using a new multi-Laser Displacement Sensor (LDS) and an ar ticulated Coordinate Measuring Machine (CMM). The new multi-LDS measur es the tangents, curvatures, and displacement of the surface. This loc al information is utilized in the technique to extrapolate the surface position and normal vector at the next location to be digitized. In a ddition, this paper derives the relationship between the digitizing er ror parameters and the ratio of sampling arc length to the radius of m aximum curvature. This technique is illustrated experimentally using a six degree-of-freedom PUMA robot and a Keyence LDS.