Research on radius compensation and hand-eye calibration of touch probes

This paper investigates the radius compensation and calibration problem of a spherically tipped touch probe in armed robot inspection system. Different from traditional imaged based approach, some issues concerning with the selecting method of the probes are first described, then the probe sphere radius compensation methods are divided into single point compensation and offset surface compensation, and the hand-eye calibration is derived as constrained optimization problem. Experiment results demonstrated the validity and effectiveness of the proposed method.