Coordinates calibration method in robotic remanufacturing measurement system based on linear 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 method 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 be directly obtaineddenoting its relationship with the robot base coordinate. So, the new methods of coordinate's transformation are effectively developed. Moreover some motivated experiments and optimized programs are designed for realizing process stabilization and reliability. This paper detailed explains the basic algorithm theory, practical operation instructions, the experiment data analysis, and etc. Theory deduction and experiments show the new methods are reasonable and efficient.