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Precise on-line non-target pose measurement for cylindrical components based on laser scanning

Jieyu Zhang (Xidian University, Xi’ an, China)
Yuanying Qiu (Xidian University, Xi’ an, China)
Xuechao Duan (Xidian University, Xi’ an, China)
Changqi Yang (Institute of Shanghai Spaceflight Precision Machinery Research Institute, Shanghai, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 12 June 2019

Issue publication date: 3 October 2019




Cylindrical components are common in industry assembly areas. It is necessary to obtain their precise positions and orientations for their assemblies. But some measurement approaches relying on measuring targets are not allowed, as they may not meet the efficiency requirement of on-line measurement or may cause surface damages to the components. Thus, this paper aims to provide a precise on-line non-target scanning method based on 3D vision.


First, a laser profile sensor is used to acquire point cloud of the side surface of the measured cylindrical component. Then a composite process is conducted to estimate the pose and position of the axis. Aiming at this purpose, two fitting approaches, i.e., axis fitting and generatrix fitting, are tried respectively to estimate the pose parameters from the point cloud.


The results of Monte Carlo simulations demonstrate that neither the axis fitting nor the generatrix fitting could solely obtain the needed accuracy and precisions roundly. Thus, a new synthesis method is presented. And the results of prototype experiments validate the excellent accuracy and precision of the synthesis method.


This proposed new synthesis method combines the advantages of both the above fitting methods and can be easily integrated into the assembly line to guide the automation assembly process of the cylindrical components precisely.



Conflict of interests: The authors declare that there is no conflict of interests regarding the publication of this paper.


Zhang, J., Qiu, Y., Duan, X. and Yang, C. (2019), "Precise on-line non-target pose measurement for cylindrical components based on laser scanning", Assembly Automation, Vol. 39 No. 4, pp. 596-606.



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