Scanner external calibration algorithm based on fixed point in robot remanufacturing system

来源期刊：中南大学学报(英文版)2005年第z2期

论文作者：朱胜 崔培枝 沈灿铎 郭迎春

文章页码：133 - 137

Key words：scanner； calibration； algorithm； remanufacturing

Abstract: This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrating the relationship between the scanner coordinate and the robot Tool₀, such as the rotation, R_x, R_y, R_z, and the transformation ,Y, Z is studied. The data of Tool₀ can be directly obtained from the relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. This paper explains the basic algorithm theory, computing method, data collecting process and the resulted data in detail. The calibration algorithm is deduced under the orthogonal coordinate.