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Optical Engineering

Calibration technology in application of robot-laser scanning system
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Paper 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.

Paper Details

Date Published: 3 November 2012
PDF: 6 pages
Opt. Eng. 51(11) 114204 doi: 10.1117/1.OE.51.11.114204
Published in: Optical Engineering Volume 51, Issue 11
Show Author Affiliations
Yong-jie Ren, Tianjin Univ. (China)
ShiBin Yin, Tianjin Univ. (China)
Jigui Zhu, Tianjin Univ. (China)

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