%0 Journal Article
%T Calibration for robot-based measuring system<br>结构光视觉测量机器人的标定
%A LI Ai-guo
%A MA Zi
%A WANG Wen-biao
%A <br>李爱国
%A 马孜
%A 王文标
%J 控制理论与应用
%D 2010
%I 
%X 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.
%K structured-light vision
%K robot calibration
%K hand-eye calibration<br>结构光视觉
%K 运动学标定
%K 手眼标定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=9DF092CF05B7202A3C40D9086AED9188&yid=140ECF96957D60B2&vid=DB817633AA4F79B9&iid=94C357A881DFC066&sid=46FF101E7ECF9F15&eid=06DAE5E1DF7D0B6A&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=14