Coordinates calibration method in a robotic remanufacturing measurement system based on linear laser scanner

C. D. Shen; S. Zhu; C. Li; Y. Y. Liang

doi:10.1117/12.836569

31 August 2009 Coordinates calibration method in a robotic remanufacturing measurement system based on linear laser scanner

C. D. Shen, S. Zhu, C. Li, Y. Y. Liang

Author Affiliations +

Proceedings Volume 7382, International Symposium on Photoelectronic Detection and Imaging 2009: Laser Sensing and Imaging; 73824G (2009) https://doi.org/10.1117/12.836569
Event: International Symposium on Photoelectronic Detection and Imaging 2009, 2009, Beijing, China

Abstract

In robotic remanufacturing measurement system, the 3D laser scanner is arranged by the robot and the object scanned is mounted on a turntable. This paper deals with the method of calibrating the relationship between the scanner coordinate and the robot Tool₀ and furthermore locating the center axis of the turntable. The data of Tool₀ can be directly obtained denoting its relationship with the robot base coordinate. So, the new methods of coordinate's transformation are effectively developed. Moreover some motivated experiments and optimized programs are designed for realizing process stabilization and reliability. This paper detailed explains the basic algorithm theory, practical operation instructions, the experiment data analysis, and etc. Theory deduction and experiments show the new methods are reasonable and efficient.

Citation Download Citation

C. D. Shen, S. Zhu, C. Li, and Y. Y. Liang "Coordinates calibration method in a robotic remanufacturing measurement system based on linear laser scanner", Proc. SPIE 7382, International Symposium on Photoelectronic Detection and Imaging 2009: Laser Sensing and Imaging, 73824G (31 August 2009); https://doi.org/10.1117/12.836569

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