Hand-eye calibration for robot 3D surface scanning system

Abstract

A platform composed of a structure-light vision sensor and an industrial robot is established for noncontact freedom surface measurement.A mathematic model for measuring system is constructed by using homegenous coordinate transform principle.A reference plane with unknown orientation and position information is ultilized to calibrate the hand-eye transformation.In this method,the equations about the hand-eye parameters are estabished by measuring the reference plane at special robot hand poses.Test results of real experiments show the effectiveness of the method.