Omni-Directional Touch Probe with Adaptive Maneuvering for 3D Object Machining and Measurement Verification Applications

In this paper, automated Omni-Directional Touch Probe (ODTP) including adaptive tuning of the complex contour curve with optimal interpolation and motion planning based on a Hybrid Multi-Axis Robot (HMAR) with Dual Drive Gantry-type Machine (DDGM) are presented. It is called an “Omni-Directional” because the 6-degree of freedom (DoF) ODTP in Tool Center Point (TCP) mode can always maintain normal direction towards the object contour curve. The new optimal solutions of the interpolation and motion planning are provided to tackle the small segments issues for a complex curvature object.We present an algorithm to maintain maximum acceleration, so that it generates smooth and efficient 3D reverse object in a higher order complex contour trajectory composed of piecewise small segments. As a result, the constant moving speed is very important to certain applications, such as gluing, welding, and laser cutting, to preserve quality processing. The utilization of object symmetry, extension and synthesis properties to simplify the process of performing reverse engineering is described. These methods reduce the time required for the touch probe to detect the points. The experimental implementation to demonstrate the success of this work with video clip are presented.