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Gocator® Smart 3D Laser Line Profile Sensors paired with UR cobots deliver a smart 3D robot vision solution for applications such as measurement and inspection of elongated targets (e.g., cables, pipes, and conduits); applications that require larger fields of view not covered by Gocator® 3D snapshot sensors (such as large scale bin picking); and a wide range of vision guidance, flexible quality inspection, and smart pick-and-place applications.

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Gocator® Smart 3D Snapshot sensors use stereo structured light (fringe projection) to generate high-density 3D data with a single scan trigger. Production engineers can pair these metrology-grade sensors with UR devices for a complete robotic solution that delivers high-performance measurement results in robot vision-guidance, quality control inspection, and automated assembly with smart pick-and-place.

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Easy UR integration with Gocator® 3D laser profilers allows production engineers to get a complete vision-guided robotic solution up and running with minimal cost and development time.

An example of an end user application is a Gocator® 2450 blue laser profiler mounted to a UR+ cobot performing glue bead scanning, measurement, and inspection in inline consumer electronics assembly processes. This set up is implemented at the application-specific level, where the sensor is mounted to the UR robot to inspect the adhesive bead and ensure it is applied within the correct volume tolerance. Gocator 2450’s blue laser 3D profiling is able to quickly and accurately determine the width, position, height and volume of the applied adhesive. 3D is also contrast-invariant, allowing detection of transparent or translucent glues to generate accurate measurements.  In addition, the 2450’s large field of view provides maximum coverage in a single scan.

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Production engineers can pair these metrology-grade sensors with UR devices for a complete robotic solution that delivers high-performance measurement results in robot vision-guidance, quality control inspection, and automated assembly with smart pick-and-place.

Since you don’t have to write any robot programs or calibration routines, it doesn’t take any expertise in order to set up your robotic systems for factory automation applications. Any engineer can do it.

Or, if you’re an advanced user who wants greater flexibility and control, you have the option of using the Gocator Development Kit (GDK) to develop and embed your own custom tools onto the sensor so that you can adapt the calibration routine to your own calibration target.

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Gocator line profile sensors use a projected laser line to perform high-resolution scanning, measurement and control for automated quality inspection, material optimization, and factory automation applications at inline production speed. These workhorse sensors come in a wide variety of models for ultimate flexibility in your scanning applications.

• Scan speeds up to 10 kHz
• Provides critical 3D shape date for height/depth/volumetric measurement
• Onboard data processing and measurement tools, no 3rd party software required
• Can easily handle a wide variety of surface types including shiny, low contrast, textured etc.
• X resolutions up to 6.7 microns
• Wide range of fields of view from 100 mm up to 2000 mm
• Measurement ranges from 80 mm up 1525 mm
• Includes red laser and blue laser models for optimal performance and maximum flexibility in your scanning applications

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Gocator 3D snapshot sensors combine blue-LED structured light with built-in 3D measurement tools for high-precision area scanning and inspection. As opposed to lasers that are used to scan moving objects, snapshot sensors use a single snapshot scan to inspect stationary objects or objects with start/stop motion.

• 3D non-contact measurement device
• Generates high data density scans in a single snapshot
• Onboard processing and measurement tools, no 3rd part software required
• Fast scan rate (6 Hz w/ acceleration)
• Stereo camera design minimizes occlusions
• 2 and 5-megapixel models available
• Up to 6 microns XY resolution
• Large fields of view (FOV) up to 100 x 154 mm
• Pick-and-place friendly for robotic/stationary inspection applications

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Gocator® 3D laser profilers are easily mounted onto the UR robot flange using a metal plate. You can then connect the sensor to a robot controller or PC application to perform sensor hand-eye calibration (using the Gocator® URCap plugin) and implement your desired robot movement.

The Gocator® Calibrate node in the URCap automatically performs hand-eye calibration between the sensor and the robot flange. When the node runs, it moves the robot-mounted sensor over the calibration target multiple times to capture scans and return the required poses. After the node has run, the resulting sensor-robot transformation matrix is loaded onto the robot.

Once hand-eye calibration is complete you can connect to the sensor’s web-interface to load a job, trigger a scan, and return positional measurements in the X, Y, and Z axes.

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Sensor-robot integration is achieved through the Gocator® URCap plugin, which is an application you install on the UR robot. This plugin triggers scans on the sensor and retrieves the positional information of the calibration target in the sensor’s field of view. (Note: Ball-bars are the most commonly used targets in sensor-robot calibration.)

After a sufficient number of scans, the calibration is saved to the UR robot, and hand-eye calibration (between the sensor and the robot flange) is complete.

After you’ve performed your hand-eye calibration, you can add programming nodes in the UR robot’s interface to tell the robot to connect to the sensor, load a job on the sensor, trigger a scan, and return positional measurements in the X, Y, and Z axes.