Industrial Inspection and
Previous: Introduction
A goal for this project was to design a system which allows us to combine vision, which can be relatively quick, and touch, which is typically slow but gives accurate data [7][11][19]. Vision would be used not only to sense the object, but also to observe the touch sensor, which must be manoeuvred to contact the part, running the risk of breakage. This combination requires control of disparate systems.
Our experiments have focussed on the environment and control mechanisms, rather than the sensing. Experiments were performed using a black-and-white CCD camera mounted on a tripod or robot arm and a simulated CMM touch probe.