Frame Shift/warp Compensation for the ARID Robot System

The Automatic Radiator Inspection Device (ARID) is a system aimed at automating the tedious task of inspecting orbiter radiator panels. The ARID must have the ability to aim a camera accurately at the desired inspection points, which are in the order of 13,000. The ideal inspection points are known; however, the panel may be relocated due to inaccurate parking and warpage. A method of determining the mathematical description of a translated as well as a warped surface by accurate measurement of only a few points on this surface is developed here. The method uses a linear warp model whose effect is superimposed on the rigid body translation. Due to the angles involved, small angle approximations are possible, which greatly reduces the computational complexity. Given an accurate linear warp model, all the desired translation and warp parameters can be obtained by knowledge of the ideal locations of four fiducial points and the corresponding measurements of these points on the actual radiator surface. The method uses three of the fiducials to define a plane and the fourth to define the warp. Given this information, it is possible to determine a transformation that will enable the ARID system to translate any desired inspection point on the ideal surface to its corresponding value on the actual surface.