Abstract
This research introduces an innovative collaborative robot (cobot) system for 3D scanning, combining the Universal Robots UR3e cobot arm and Intel RealSense D435i depth camera. Targeting industries such as architecture and medicine, the system effectively addresses traditional 3D scanner limitations by offering cost-effective, precise on-site scanning capabilities. Seamless collaboration is ensured through integration with the Robot Operating System, while a trajectory algorithm guides the cobot for accurate scanning. The choice between RecFusion and KinectFusion algorithms strikes a balance between quality and accessibility. Ongoing hardware and algorithm advancement, along with potential applications in hazardous environments, underscores the system’s versatility. While acknowledging limitations, the paper presents a blueprint for future cost-effective, accurate scanning systems.
