Improving the Accuracy of Robot-based Measuring System by Calibrating Robot and Robotic Hand-eye Transformation

摘要：

A platform composed of a laser-stripe scanner and an industrial robot is established for 3D surface digitalization. A mathematic model for measuring system is constructed by using homogenous coordinate transform principle and a solution to hand-eye matrix is proposed through measuring a fixed point at different robot hand postures. Considering the absolute accuracy of the robot, a scheme involving fixed point information is proposed to estimate the robot kinematic parameter error and hand-eye error. Test results of real experiments on an industrial robot are reported and analysed.

关键词： laser-stripe scanner robot calibration hand-eye calibration

作者: Aiguo Li Wenbiao Wang Xiang Wu

作者单位: School of information science & technology Dalian Maritime University Dalian, China

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 540-543

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）