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Entwicklung eines vielseitigen und robusten Laserscanners für 3D-Modellierung und Exploration mit einem Roboterarm

Kielhöfer, Simon (2016) Entwicklung eines vielseitigen und robusten Laserscanners für 3D-Modellierung und Exploration mit einem Roboterarm. Dissertation, Gottfried Wilhelm Leibniz Universität Hannover.

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This work presents the development of the VR-SCAN, a versatile and robust triangulation scanner for robotics. Through optical perception the robot is able to comply with numerous tasks. Therefore perception has to be versatile. However, one single sensor cannot allow for all requirements. This work follows the strategy to design an inherently versatile sensor for a well-defined scenario: The VR-SCAN is dedicated to autonomous 3D modelling and exploration with a robot arm. Growing autonomy in robotics requires robust perception working reliably in unforeseen and changing environmental conditions. The robot has to perform tasks without compromising itself or the environment. The sensors requirements for autonomous modelling and exploration are analyzed. Two hypotheses regarding versatility and robustness are derived. The resulting requirements affect the design of the VR-SCAN: Versatility is ensured by large measuring depth and variable focusing. Confidence rating of each measurement provides robustness against false measurements. Therefore detection of safe-for-motion areas is possible. High integration density is achieved by the use and development of very small components: The compact sensor system merges a MEMS micro mirror, a fiber coupled laser diode, a micro motor for focus control, a compact triplet lens and a central FPGA. A patented calibration procedure is described and applied. Thus the functionality of the laser scanner is successfully demonstrated. The VR-SCAN combines outstanding features such as large measuring depth, robustness by confidence rating and high accuracy at close range in a small, lightweight package. Hence this robust and versatile sensor for robot perception complies with the stated hypotheses.

Item URL in elib:https://elib.dlr.de/112075/
Document Type:Thesis (Dissertation)
Title:Entwicklung eines vielseitigen und robusten Laserscanners für 3D-Modellierung und Exploration mit einem Roboterarm
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:128
Keywords:3-D modeling
Institution:Gottfried Wilhelm Leibniz Universität Hannover
Department:Fakultät für Maschinenbau
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Strobl, Dr. Klaus H.
Deposited On:19 May 2017 14:43
Last Modified:02 Mar 2018 12:22

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