# Physical Adaptation of Articulated Robotic Arm into 3D Scanning System
## 1 Introduction
### Background  
As the progress and development of robots are constantly advancing, upgrading existing robots is the key to sustainability. Boosting the existing robots using modern software frameworks is the first common solution. Outdated robotic systems can be revitalized by replacing their control systems with new ones that enhance motion planning capabilities and allow for much more sophisticated tasks [10]. Moreover, the integration of IoT facilitates remote control of a robot. This approach allows the control of a robotic arm from remote locations via a mobile application [20]. Old robotic arms can be used for basic educational purposes. Educational institutions can provide practical training on robots substituted in the industry by new ones. An articulated robotic arm can be involved in projects where students learn about programming, control systems, and sensors, improving the learning experience [21]. From an industry perspective, robotic arms can be adapted for specific tasks such as sorting, welding, or assembly [22]. Even older robotic arm models can be redesigned to achieve high performance in simple tasks [23]. The manufacturing industry has a desire to move from mass production to mass customization or personalized manufacturing. Therefore, there are several challenges with reconfigurable manufacturing systems (RMSs) due to their dynamic nature, where robots and other manufacturing machines can be moved and rearranged [24]. This approach promotes sustainability in robotics by encouraging the reuse of existing robots. Automated robotic 3D scanning systems are a significant part of industrial quality control, especially in the metrology sector where 3D scanners capture 3D data and ensure precision and accuracy in production [25]. Considering the increasing use of free-form surfaces across various industries and the fact that worn parts with such surfaces are often no longer used, [PERSON] et al. [26] proposed a method that utilizes a combination of a Linear Laser Scanner and a Laser Cladding Nozzle installed on an industrial robot. It allows worn free-form surface parts to be scanned, and based on the analyzed wear, damaged areas can be filled up and restored to their original state. Moreover, a vision-based method for positioning parts uses multi-camera images to reconstruct 3D point clouds and align them with the part's computer-aided design (CAD) model, achieving high positioning accuracy and enhancing the robot's flexibility in dynamic conditions [27]. In industry, robots are used to investigate the influence of cutting process parameters on the cutting forces and fabric quality of woven fibers during ultrasonic cutting [28]. Also, investigations of the application of industrial robots in the additive manufacturing of thermoplastics emphasize the benefits of free-form fabrication and the integration of fused deposition modeling (FDM) technology with robotic systems [29]. Thanks to grippers, robots are highly adaptable to new tasks, which is one of their key advantages. They can be classified into several categories based on their design and purpose. Traditional hard grippers, which often utilize rigid components, are effective for grasping well-defined objects' geometry, but they may have difficulty interacting with irregularly shaped surfaces [30]. Moreover, soft robotic grippers offer more flexibility for the shape of the objects they grasp. They provide a gentler touch that is particularly beneficial for applications on fragile items [3]. These soft grippers are usually driven using pneumatic systems and cable-driven mechanisms, but nowadays, even shape memory alloys are used [31]. Using the principles of customization, robotic arms with appropriate executive parts and control systems can be tailored to the specific needs of a production line, thus maximizing its productivity. Unlike previous research, this research focuses on solving connection issues between an articulated robotic arm and a handheld 3D scanner. Old robots have poor performance in comparison to new sophisticated robotic arms.