Calibration algorithm in robotic remanufacturing measurement system based on 3D laser scanner

摘要

In robotic remanufacturing measurement system, the 3D laser scanner is arranged by the robot and the object scanned is mounted on a turntable. This paper deals with the algorithm of calibrating the relationship between the scanner coordinate and the robot Tool_0, and furthermore locating the center axis of the turntable. The data of Tool_0 can bedirectly obtained denoting its relationship with the robot base coordinate. So, the coordinate transformation problems are effectively solved and the measuring data which relative to the robot base coordinate could be congruously saved. This paper detailed explains the basic algorithm theory, computing method and the result data analysis, and etc. The calibration algorithm is deduced under the orthogonal coordinate.