Investigation of Robotic System Parameters for 3D Scanning Human Limbs

Abstract

This paper presents the investigation of motion speed effect on scan accuracy and in turn, automation benefits for a semi-automated 3D human limb scanning system. The robot arm ABB IRB 1200 was used in combination with HandyScan 700 handheld scanner to scan a human hand replica, achieving average noise of 0.0277 mm. It was found that for each resolution setting of a scanner, there is an ideal motion speed that maximizes accuracy. In this case, resolutions of 0.2, 0.6, 1.0 and 2.0 mm were tested at max toolhead speeds 100, 300, 500, 800, 1000, 1500 and 3000 mm/s, where minimal standard deviation values were found at 100, 300, 500, 1000 mm/s speeds for each resolution respectively. Further development is needed in order to adapt such a system for real human limb scanning, such as longer robot reach, human safety measures, improved supports.