Title :
Robotic 3D Structured Light Scanning System Based on External Axle
Author :
Jin, Huang ; Zi, Ma ; Ying, Hu ; Yang, Wang
Author_Institution :
Autom. Res. Center, Dalian Maritime Univ., Dalian
Abstract :
To solve the related problems of a robot 3D scanner, an external axle is added into the scanning system so that the scanning path is simplified obviously, work range is enlarged and scanning accuracy is improved. Some key points such as the kinematics model of the system, stripe light sensor model, hand-eye calibration and robot-external axle calibration etc. are discussed. The feasibility of the presented approach is demonstrated via some experiments.
Keywords :
calibration; image scanners; robot kinematics; robot vision; external axle; hand-eye calibration; kinematics model; robot 3D scanner; robot-external axle calibration; robotic 3D structured light scanning system; stripe light sensor model; Axles; Calibration; Coordinate measuring machines; Flanges; Intelligent robots; Robot kinematics; Robot sensing systems; Robotics and automation; Sensor systems; Service robots; hand-eye calibration; robot-external axle calibration; stripe light sensor model; the kinematics model of the system;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.308
