The analytical examinations of the painting were carried out not only before starting the treatment, but also during the cleaning. This allowed valuable information to be gathered on the condition of the surface layers as well as the layer structure and the materials used.
An Ensenso N35 camera is used to capture the beam position and geometry. As soon as the timber is in the printing position, the robot automatically places the flange-mounted camera so that it can detect the surfaces of the beam.
It combines high-performance force control, computer vision and advanced AI technologies, which enables the robot to adapt to the complicated environments, and accomplish better "hand-eye" coordination like human does.
The traditional vision architecture is changing, with an evolution from cameras and sensors to networked and smart-enabled, compact embedded devices with the processing power required for real-time analysis.
A traditional gantry system employs X-Y or X-Y-Z range of motion. Mounted on a base plate, usually granite, 2 parallel rails constitute the synchronized Y axis motion while the cross axis (bridge axis) provides the X motion. A vertical axis can be added on the bridge for the Z motion. A Split Bridge system can be less complex than a traditional gantry system because synchronization of the two parallel linear motors is not required. Both systems are used in industrial production, testing, and additive manufacturing.