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控制理论与应用 2010
Calibration for robot-based measuring system
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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.
