In robotic remanufacturing measurement system, the 3D laser scanner is arranged by the robot and the object scanned is
mounted on a turntable. This paper deals with the method of calibrating the relationship between the scanner coordinate
and the robot Tool0 and furthermore locating the center axis of the turntable. The data of Tool0 can be directly obtained
denoting its relationship with the robot base coordinate. So, the new methods of coordinate's transformation are
effectively developed. Moreover some motivated experiments and optimized programs are designed for realizing process
stabilization and reliability. This paper detailed explains the basic algorithm theory, practical operation instructions, the
experiment data analysis, and etc. Theory deduction and experiments show the new methods are reasonable and
efficient.
In robotic remanufacturing measurement system, the 3D laser scanner is arranged by the robot and the object scanned is
mounted on a turntable. This paper deals with the algorithm of calibrating the relationship between the scanner
coordinate and the robot Tool0, and furthermore locating the center axis of the turntable. The data of Tool0 can be
directly obtained denoting its relationship with the robot base coordinate. So, the coordinate transformation problems are
effectively solved and the measuring data which relative to the robot base coordinate could be congruously saved. This
paper detailed explains the basic algorithm theory, computing method and the result data analysis, and etc. The
calibration algorithm is deduced under the orthogonal coordinate.
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