Calibration for 3D Profile Measurement Robot with Laser Line-Scan Sensor

摘要

In order to obtain the 3D profile of a large free-form surface with high efficiency and accuracy,a measurement method based on general industrial robot and laser line-scan sensor is studied.The principle and structure of the measurement system are discussed.Then the position and posture between the robot and the sensor are calculated accurately by using a standard sphere and the optimization algorithm.Considering the robot kinematic errors may have great influence on the measurement results of the system,a method for correcting the robot kinematic parameters is proposed,which can reduce the positioning error effectively.Experiments and analytical results show that the measurement system can measure standard sphere with high accuracy after the calibration and kinematic parameters correction being done.This method provides a guarantee for the acquisition of high accuracy three-dimensional point clouds.