Calibration of laser displacement sensor used by industrial robots

被引：18
|
作者：
Zhu, ZQ [1 ]
Tang, Q
Li, JS
Gan, ZX
机构：
[1] Stevens Inst Technol, Dept Mech Engn, Hoboken, NJ 07030 USA
[2] ABB Inc, Corp Res, Windsor, CT 06095 USA
来源：
OPTICAL ENGINEERING | 2004年 / 43卷 / 01期
关键词：
robotics; robot vision; laser applications;
D O I：
10.1117/1.1631935
中图分类号：
O43 [光学];
学科分类号：
070207 ; 0803 ;
摘要：
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.
引用
收藏
页码：12 / 13
页数：2
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