Abstract
Robots are widely used in machining tasks for their great flexibility. In this paper, a cooperative robotic grinding system consists of a cooperative robot, a binocular camera and a 3D laser scanner. An unavoidable issue is the unknown transformation relationships between the frames of the robot and measurement equipment (robotic frame, camera frame and scanner frame). In this paper, an approach for unifying multi-equipment frames is proposed, which composes two steps calibration that calibrating the pose transformation matrices from the camera frame to robot base frame and 3D laser scanner frame to the camera frame individually. The multi-equipment frames’ unifying is achieved by converting all measured point coordinates from the camera and the scanner to the robot base frame. In the experiment, a workpiece was ground to shows the performance of the cooperative robot machining system.
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