Scanner path planning with the control of overlap for part inspection with an industrial robot

  • Nguyen Duy Minh Phan
  • Yann Quinsat
  • Sylvain Lavernhe
  • Claire Lartigue


Automated inspection of manufactured parts is increasingly getting attention as it helps to make a rapid decision on product conformity. In this context, the aim of this paper is to present a new scanner path planning method for part inspection using an industrial six-axis robot. The novelty of the approach is to generate a scan path with the control of the overlap between two adjacent scanning paths based on the use of the least-squares conformal maps, which stretches a 3D mesh surface on a 2D plane. Equidistant paths calculated in the 2D space are then transformed into equidistant paths in the 3D space. The effective performance of controlling the overlap can improve digitizing quality and save digitizing time by managing the coverage of the laser beam. Furthermore, the digitizing quality is also ensured by keeping a constant scanning distance and executing a continuous control of the scanner orientation relatively to the part surface for all the driven points of the scan path. An experimental application of this new approach is proposed for a laser-plane scanner mounted on an industrial robot with six degrees of freedom, which demonstrates the interest of such an approach.


Automated inspection Robot Laser-scanner trajectory Overlap control 


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This research was made possible by the equipment support from Kreon Technology. We gratefully acknowledge the help provided by Mr. Tom Ranger and Mr. Dorian Verdel for their technical assistance in our experimental work.


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Copyright information

© Springer-Verlag London Ltd., part of Springer Nature 2018

Authors and Affiliations

  • Nguyen Duy Minh Phan
    • 1
  • Yann Quinsat
    • 1
  • Sylvain Lavernhe
    • 1
  • Claire Lartigue
    • 1
  1. 1.LURPA, ENS Paris-Saclay, Université Paris-SudUniversité Paris-SaclayCachanFrance

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