Self-calibration method for a robotic based 3D scanning system

Wagner M, Heß P, Reitelshöfer S, Franke J (2015)

Publication Type: Conference contribution, Conference Contribution

Publication year: 2015

Pages Range: 1-6

Conference Proceedings Title: 2015 IEEE 20th Conference on Emerging Technologies Factory Automation (ETFA)

Event location: Luxembourg LU

DOI: 10.1109/ETFA.2015.7301508

Abstract

This paper describes a method for extrinsic sensor calibration for a 2D laser profile sensor on a robot arm used as a robot based 3D scanning system. In order to establish a relationship between the sensor measurements and the robot positions, the transformation between the robot flange and the sensor reference frame are determined. The developed calibration method is implemented as an automated self-calibration. It is based on the use of a pin as a fixed reference. The robot is aligned to the tip of the pin automatically with certain orientations. The sensor transformation is calculated based on six recorded robot positions. Finally, the accuracy of the calibration is determined with an additional robot position.

Authors with CRIS profile

Maximilian Wagner Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Sebastian Reitelshöfer Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS) Jörg Franke Lehrstuhl für Fertigungsautomatisierung und Produktionssystematik (FAPS)

How to cite

APA:

Wagner, M., Heß, P., Reitelshöfer, S., & Franke, J. (2015). Self-calibration method for a robotic based 3D scanning system. In 2015 IEEE 20th Conference on Emerging Technologies Factory Automation (ETFA) (pp. 1-6). Luxembourg, LU.

MLA:

Wagner, Maximilian, et al. "Self-calibration method for a robotic based 3D scanning system." Proceedings of the IEEE 20th Conference on Emerging Technologies & Factory Automation (ETFA), Luxembourg 2015. 1-6.

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