Calibration technology in application of robot-laser scanning system

Yong-jie Ren; ShiBin Yin; Jigui Zhu

doi:10.1117/1.OE.51.11.114204

3 November 2012 Calibration technology in application of robot-laser scanning system

Yong-jie Ren, ShiBin Yin, Jigui Zhu

Author Affiliations +

Optical Engineering, Vol. 51, Issue 11, 114204 (November 2012). https://doi.org/10.1117/1.OE.51.11.114204

Abstract

A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

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Yong-jie Ren, ShiBin Yin, and Jigui Zhu "Calibration technology in application of robot-laser scanning system," Optical Engineering 51(11), 114204 (3 November 2012). https://doi.org/10.1117/1.OE.51.11.114204

Published: 3 November 2012

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