Calibration between a Laser Range Scanner and an Industrial Robot Manipulator

Thomas Timm Andersen; Nils Axel Andersen; Ole Ravn

doi:10.1109/cica.2014.7013252

Calibration between a Laser Range Scanner and an Industrial Robot Manipulator

Thomas Timm Andersen, Nils Axel Andersen, Ole Ravn

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Abstract

In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method

Original language	English
Title of host publication	Proceedings of IEEE SSCI 2014
Publisher	IEEE
Publication date	2014
DOIs	https://doi.org/10.1109/cica.2014.7013252
Publication status	Published - 2014
Event	2014 IEEE Symposium Series on Computational Intelligence - Orlando, United States Duration: 9 Dec 2014 → 12 Dec 2014

Conference

Conference	2014 IEEE Symposium Series on Computational Intelligence
Country/Territory	United States
City	Orlando
Period	09/12/2014 → 12/12/2014

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title = "Calibration between a Laser Range Scanner and an Industrial Robot Manipulator",

abstract = "In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method",

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booktitle = "Proceedings of IEEE SSCI 2014",

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note = "2014 IEEE Symposium Series on Computational Intelligence, SSCI 2014 ; Conference date: 09-12-2014 Through 12-12-2014",

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AU - Andersen, Nils Axel

AU - Ravn, Ole

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N2 - In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method

AB - In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method

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DO - 10.1109/cica.2014.7013252

M3 - Article in proceedings

BT - Proceedings of IEEE SSCI 2014

PB - IEEE

T2 - 2014 IEEE Symposium Series on Computational Intelligence

Y2 - 9 December 2014 through 12 December 2014

ER -

Calibration between a Laser Range Scanner and an Industrial Robot Manipulator

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