I want to put a laser scanner on the UR5e Cobot to for linear profile scans of a formed part. However, we do not know the best path to encode the robot’s movement for the scanner to avoid stretching or compressing the data points of the scan.
We are considering having the cobot tell the scanner its position via a trigger signal from URScript/RTDE. We are still working out how this would be done and whether there would be problems with non-determinate delays between when the cobot is in its position and when it actually sends the scanner the signal.
The other option we are considering is telling the scanner the velocity of the cobot and letting the scanner do the rest of the work. This option would be easier to set up; however, we are concerned it may not be as accurate.
Would you be able to help us better understand some of these concerns?
Thank you in advance