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

Volume

1

fYear

2008

fDate

20-22 Oct. 2008

Firstpage

1126

Lastpage

1129

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on

Conference_Location

Hunan

Print_ISBN

978-0-7695-3357-5

Type

conf

DOI

10.1109/ICICTA.2008.308

Filename

4659667