用机械臂接触式扫描物体，自动完成3D建模。
Automatic Contact-Based 3D Scanning Using Articulated Robotic Arm
- 机械臂配合探针接触物体，通过逆运动学规划路径
- 扫描精度符合ASME标准，点云与原模型误差可量化
- 适合需要高精度3D重建的工业质检场景
本文提出一种开环式六自由度（6-DoF）关节型机器人系统，采用接触式方法对物体进行三维（3D）扫描。使用数字化探针检测与物体的接触，通过逆运动学（IK）计算对应关节角度，并实现直线轨迹规划。该系统可执行单点测量及自由曲面的3D扫描。设定扫描区域的尺寸、位置和密度后，系统能自动完成指定体积的扫描。生成的3D扫描结果以标准三角网格格式（STL）输出，兼容常用3D软件。依据ASME B89.4.22标准进行了精度与重复性测试，将扫描点云与原始3D模型进行对比分析。
原文摘要 · Abstract (English)
This paper presents an open-loop articulated 6-degree-of-freedom (DoF) robotic system for three-dimensional (3D) scanning of objects by contact-based method. A digitizer probe was used to detect contact with the object. Inverse kinematics (IK) was used to determine the joint angles of the robot corresponding to the probe position and orientation, and straight-line trajectory planning was implemented for motion. The system can take single-point measurements and 3D scans of freeform surfaces. Specifying the scanning area's size, position, and density, the system automatically scans the designated volume. The system produces 3D scans in Standard Triangle Language (STL) format, ensuring compatibility with commonly used 3D software. Tests based on ASME B89.4.22 standards were conducted to quantify accuracy and repeatability. The point cloud from the scans was compared to the original 3D model of the object.
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