Calibration of a portable laser 3-D scanner used by a robot and its use in measurement
文献类型：期刊论文
| 作者 | Li, Jianfeng1,2; Zhu, Jianhua1; Guo, Yongkang1; Lin, Xiangdi1; Duan, Kailiang2; Wang, Yishan2; Tang, Qing3 |
| 刊名 | optical engineering
 |
| 出版日期 | 2008 |
| 卷号 | 47期号:1页码:17202 |
| ISSN号 | 0091-3286 |
| 关键词 | robotics robot vision laser scanner robot TCP calibration camera calibration |
| 英文摘要 | a robot scanning system consisting of a portable laser 3-d scanner and an industrial robot is demonstrated. in this system, the scanner is precalibrated by the traditional nonlinear two-step approach. in addition, by using a criterion sphere as the calibration object, a new robot tool center point (tcp) calibration approach is proposed for calibrating the relation between the precalibrated laser 3-d scanner and the robot. in this approach, two different translational motions of the robot are first made to determine the rotation part, and then at least three different rotational motions are made to determine the translation part. during the process, the extrinsic camera parameters are not recalibrated for each robot motion, so the calibration errors brought by camera calibration can be decreased. moreover, the calibration error due to robot positioning error can be decreased by making use of the differences of different robot positions in calculations. an experiment was performed on a portable laser 3-d scanner and an abb irb-4400 industrial robot to test the validity of the proposed calibration approach. the experimental results show that this approach is simple and accurate compared to the conventional robot tcp calibration approach. (c) 2008 society of photo-optical instrumentation engineers. |
| 学科主题 | 数理科学和化学 |
| WOS标题词 | science & technology ; physical sciences |
| 类目[WOS] | optics |
| 研究领域[WOS] | optics |
| 关键词[WOS] | hand-eye calibration ; accuracy evaluation ; camera calibration ; equations ; world |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000253717600042 |
| 公开日期 | 2011-09-30 |
| 源URL | [http://ir.opt.ac.cn/handle/181661/10873]  |
| 专题 | 西安光学精密机械研究所_瞬态光学技术国家重点实验室 |
| 作者单位 | 1.Sichuan Univ, Dept Phys, Inst Nanoopt, Chengdu 610064, Peoples R China 2.Chinese Acad Sci, Xian Inst Opt & Precis Mech, State Key Lab Transient Opt & Photon, Xian 710119, Peoples R China 3.InterSmart Robot Syst Co Ltd, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Jianfeng,Zhu, Jianhua,Guo, Yongkang,et al. Calibration of a portable laser 3-D scanner used by a robot and its use in measurement[J]. optical engineering,2008,47(1):17202. |
| APA | Li, Jianfeng.,Zhu, Jianhua.,Guo, Yongkang.,Lin, Xiangdi.,Duan, Kailiang.,...&Tang, Qing.(2008).Calibration of a portable laser 3-D scanner used by a robot and its use in measurement.optical engineering,47(1),17202. |
| MLA | Li, Jianfeng,et al."Calibration of a portable laser 3-D scanner used by a robot and its use in measurement".optical engineering 47.1(2008):17202. |
入库方式： OAI收割
来源：西安光学精密机械研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。