Inverse Kinematics Proposal to Automatize the 3D Scanning of Handball Shoes by Using a Robotic Arm with 3 Actuated Joints

Abstract

The purpose of this paper is to present a procedure for automating the scanning process based on a mathematical model for a handheld 3D scanner for shoes used in some indoor sports. The study aims to use inverse kinematics to automate 3d footwear scanning used for indoor sport (handball) using a robotic arm with three joints. A modeling of the robotic arm and final effector was performed, to simulate the minimum and maximum trajectory of the robot arm according to the angles shown based on the mathematical model and inverse kinematics. With an easy-to-use interface and ergonomic design, this 3D scanning solution offers the versatility to scan various objects (such as scanning two shoe models used in indoor sports) and complex surface types. This scanning manner represents the state of the art of 3D scanning solutions as well as a benchmark in the 3D measurement equipment industry. The data obtained as a result of this research provide new directions and solutions for sports shoe scanning for indoor sports based on scanning trajectories preset by inverse kinematics in order to automate the scanning process using a handheld 3D scanner. Based on the mathematical model presented in the paper, automation of the scanning process can be achieved by maintaining the proposed trajectory using an automated arm operating through a control program that can be run on a simple controller.

Keywords

• soft VX elements
• mesh
• handball
• structured light