激光线扫式形貌测量机器人的标定研究

为能够高效、高精度的获取大型自由曲面物体的形貌,研究了基于通用工业机器人和激光线扫描传感器的测量方法。论述了激光线扫式形貌测量系统的原理与结构,利用标准球及优化算法实现了机器人和激光扫描传感器位姿关系的精确解算,并针对机器人运动学误差对系统测量影响较大,通过对机器人运动学参数的修正有效减小了机器人的绝对定位误差。实验和分析结果表明,经标定和运动学参数校正后的测量系统对标准球的测量能达到较高精度,为采集高精度三维点云提供了保证。

Calibration for 3D profile measurement robot with laser line-scan sensor

In order to obtain the 3D profile of a large free-form surface with high efficiency and accuracy,a measurement method based on general industrial robot and laser line-scan sensor is studied.The principle and structure of the measurement system are discussed.Then the position and posture between the robot and the sensor are calculated accurately by using a standard sphere and the optimization algorithm.Considering the robot kinematic errors may have great influence on the measurement results of the system,a method for correcting the robot kinematic parameters is proposed,which can reduce the positioning error effectively.Experiments and analytical results show that the measurement system can measure standard sphere with high accuracy after the calibration and kinematic parameters correction being done.This method provides a guarantee for the acquisition of high accuracy three-dimensional point clouds.