Calibration of laser displacement sensor used by industrial robots

We propose a unique approach for calibrating robot tool center point (TCP) using a noncontact sensor such as a laser displacement sensor. This approach is based on nonlinear least square optimization algorithms with geometry constraints. Experimental results show that calibration algorithm is robust and the calibration error is reduced significantly compared to that of a conventional method. (C) 2004 Society of Photo-Optical Instrumentation Engineers.