Application of robot 3D laser line scanning measurement path planning method based on suboptimal viewpoint in free-form surface parts measurement

The scanning measurement path planning of free-form surface parts is an important factor in ensuring the accuracy and efficiency of scanning measurement. This paper proposes a robot scanning measurement path method based on the suboptimal viewpoint method for high-precision and high-efficiency measurement of free-form surface parts. Firstly, scanning points are generated based on the CAD model of free-form surface parts. Then, based on the measurement angle and distance of the 3D laser scanner, the candidate pose of the 3D laser scanner is generated for the sampling points, and the optimal pose of the 3D laser scanner is generated based on the suboptimal viewpoint. Finally, the optimal scanning measurement path for the robot is generated. The computer simulation and experimental results show that this method can effectively improve the measurement efficiency while ensuring the measurement accuracy.