This paper presents a new technique for digitizing an unknown sculptured surface using a new multi-Laser Displacement Sensor (LDS) and an articulated Coordinate Measuring Machine (CMM). The new multi-LDS measures the tangents, curvatures, and displacement of the surface. This local information is utilized in the technique to extrapolate the surface position and normal vector at the next location to be digitized. In addition, this paper derives the relationship between the digitizing error parameters and the ratio of sampling arc length to the radius of maximum curvature. This technique is illustrated experimentally using a six degree-of-freedom PUMA robot and a Keyence LDS.

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