Hand-Eye Calibration of a Laser Profile Scanner in Robotic Welding

摘要

This paper presents a new version of the Hand-eye calibration method for a 2D laser profile scanner. To begin, the article brings a brief introduction to the problem and discusses the current state-of-the-art. Next, there is a description of the algorithm using a standard sphere as the calibration object and performing the computation of rotational and translational parts of the calibration transformation separately. The proposed algorithm is verified by multiple simulations to prove the compliance of the accuracy requirements and a real world application is presented to illustrate the benefit of the algorithm.