A non-contact laser speckle sensor for the measurement of robotic tool speed

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dc.contributor.authorCharrett, Thomas O. H.
dc.contributor.authorBandari, Yashwanth K.
dc.contributor.authorMichel, Florent
dc.contributor.authorDing, Jialuo
dc.contributor.authorWilliams, Stewart W.
dc.contributor.authorTatam, Ralph P.
dc.date.accessioned2018-05-15T16:14:32Z
dc.date.available2018-05-15T16:14:32Z
dc.date.issued2018-04-23
dc.description.abstractA non-contact speckle correlation sensor for the measurement of robotic tool speed is described that is capable of measuring the in-plane relative velocities between a robot end-effector and the workplace or other surface. The sensor performance has been assessed in the laboratory with sensor accuracies of ±0.01 mm/s over a ±70 mm/s velocity range. The effect of misalignment of the sensor on the robot was assessed for variation in both working distance and angular alignment with sensor accuracy maintained to within 0.025 mm/s (<0.04%) over a working distance variation of ±5 mm from the sensor design distance and ±0.4 mm/s (0.6%) for a misalignment of 5°. The sensor precision was found to be limited by the peak fitting accuracy used in the signal processing with peak errors of ±0.34 mm/s. Finally an example of the sensor’s application to robotic manufacturing is presented where the sensor was applied to tool speed measurement for path planning in the wire and arc additive manufacturing process using a KUKA KR150 L110/2 industrial robot.en_UK
dc.identifier.citationCharrett TOH, Bandari Y, Michel F, Ding J, Williams SW, Tatam RP, A non-contact laser speckle sensor for the measurement of robotic tool speed, Robotics and Computer-Integrated Manufacturing, Volume 53, October 2018, pp. 187-196en_UK
dc.identifier.cris20019203
dc.identifier.issn0736-5845
dc.identifier.urihttp://dx.doi.org/10.1016/j.rcim.2018.04.007
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/13206
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectLaser speckleen_UK
dc.subjectTool speeden_UK
dc.subjectVelocimetryen_UK
dc.subjectRobotic sensoren_UK
dc.titleA non-contact laser speckle sensor for the measurement of robotic tool speeden_UK
dc.typeArticleen_UK

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