Calibration for robot-based measuring system

Abstract

A platform composed of a line-structured-light vision scanner and an industrial robot is established for 3D surface digitalization.A mathematical model for the measuring system is constructed by using the homogenous coordinate transform principle and a solution to hand-eye matrix is proposed through measuring a fixed point at different robot hand postures.Considering the absolute accuracy of the robot,a scheme involving scale information and fixed point information is proposed to estimate the robot kinematic parameter errors and hand-eye errors.Test results of real experiments on an industrial robot are reported and analyzed.