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Proceedings Paper

Calibration algorithm in robotic remanufacturing measurement system based on 3D laser scanner
Author(s): C. D. Shen; S. Zhu; C. Li; Y. Y. Liang
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Paper 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 algorithm 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 coordinate transformation problems are effectively solved and the measuring data which relative to the robot base coordinate could be congruously saved. This paper detailed explains the basic algorithm theory, computing method and the result data analysis, and etc. The calibration algorithm is deduced under the orthogonal coordinate.

Paper Details

Date Published: 6 August 2009
PDF: 7 pages
Proc. SPIE 7384, International Symposium on Photoelectronic Detection and Imaging 2009: Advances in Imaging Detectors and Applications, 73842G (6 August 2009); doi: 10.1117/12.836188
Show Author Affiliations
C. D. Shen, National Key Lab. for Remanufacturing (China)
S. Zhu, National Key Lab. for Remanufacturing (China)
C. Li, National Key Lab. for Remanufacturing (China)
Y. Y. Liang, National Key Lab. for Remanufacturing (China)


Published in SPIE Proceedings Vol. 7384:
International Symposium on Photoelectronic Detection and Imaging 2009: Advances in Imaging Detectors and Applications
Kun Zhang; Xiang-jun Wang; Guang-jun Zhang; Ke-cong Ai, Editor(s)

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