3D Scanning of Workpieces with Cooperative Industrial Robot Arms

This paper describes the realization of a cooperative scanning approach by two industrial robot arms. The basic idea is the distribution of the movements on two robots by one robot handling the sensor and the other one handling the workpiece. Through this approach reachability is improved. In addition, the reference between the workpiece and the grasping robot is included in the scan model. Thus, the resulting model can be used well for subsequent workpiece related machining processes.