Simultaneous sensor and hand-sensor calibration of a robot-based measurement system

.This paper presents a system for object digitalization by use of a laser stripe triangulation displacement sensor and an industrial MOTOMAN robot. In order to ensure the precision of the scanning system, a novel calibration scheme referred to as one-stage approach is proposed. This procedure mainly utilizes a circular-marked board as calibration target and calibrates the range finder and hand-sensor model simultaneously using the same reference points to eliminate the influences of the range finder calibration error on the hand-eye calibration. Finally, some experimental results are reported and analyzed.

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