Autonomous Sensor Center Position Calibration with Linear Laser-Vision Sensor

摘要

A linear laser-vision sensor called 'Perception TriCam Contour ' is mounted on an industrial robot and often used for various application of the robot such as the position correction and the inspection of a part. In this paper, a sensor center position calibration is presented for the most accurate use of the robot-Perceptron system. The obtained algorithm is suitable for on-site calibration in an industrial application environment. The calibration algorithm requires the joint sensor readings, and the Perceptron sensor measurements on a specially devised jig which is essential for this calibration process. The algorithm is implemented on the Hyundai 7602 AP robot, and Perceptron`s measurement accuracy is increased up to less than 1.4mm. Keywords: SCP (Sensor Center Position) Calibration, Linear Laser-Vision Sensor, Perceptron System 1.