Abstract
When an industrial robot is integrated with a laser sensor, it can be used as a coordinate measuring machine. We call the system a robot coordinate measuring machine (RCMM). To have RCMM achieve its highest possible accuracy, a trio of calibrations are introduced. In order for the robot to use a vision system to measure the 3D pose of an object relative to its own base, it is necessary to know the relative position and orientation between the hand and the robot base (robot kinematic calibration), between the eye and the hand (TCP calibration), and between the object and the eye (sensor calibration). For a laser sensor based robot vision system we have addressed its component vision system in previous chapters. We discussed the formation and calibration of the vision system and calibration of its TCP position. Robot calibration is a natural extension of TCP calibration.KeywordsError ParameterForward KinematicError BudgetRobot CalibrationRobot Kinematic CalibrationThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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