Modeling of a robot-based measuring system for remanufacturing workpieces

摘要

A platform composed of a rotation table and an industrial robot with structure-light vision sensor is established for remanufacturing workpieces measurement. A mathematic model for the measuring system is constructed by using homogenous coordinate transform principle. The method for calibrating the sensor extrinsic parameters and rotation axis are given. Test results of real experiments are reported and analyzed.