Calibration of a Robot Vision System Coupled with Structured Light: Method and Experiments

摘要

The calibration method of a special robot vision system with a camera and laser light projector mounted on the robot hand is proposed in this paper. The robot kinematic calibration is completed in screw axis identification method using a laser tracker and the robot's geometrical parameters are identified precisely. The robot hand-eye calibration is performed by establishing a chain of transformations of the eye-in-hand system and the homogeneous matrix between the camera frame and robot hand frame is obtained from HALCON. The structured light calibration which determines the pose of the light plane in the camera coordinate frame is completed by analyzing several pattern images in the different height levels with HALCON programming. And the result of the experiment has shown the feasibility of the proposed method.