Complete Object Inspection Using CAD Models and Robotic Manipulation

This paper describes the development of an object inspection system for use in f lexible manufacturing systems for the inspection of complex machined components. During operation the system f i rs t locates and ident i f ies ins tan t ia t ions of the object in the field of view of a camera system. A robot arm is then used to manipulate the object in the field of view of a sensor in order to check for manufacturing defects e.g. surface finish, dimensions, part integrity. Robot manipulation is necessary to enable a l l views of the object to be interrogated. Much of the information required to plan these operations is obtained from the CAD model of the object (a CSG representation) e.g. possible ins tan t i a t ions , potent ia l gripping points etc .