4.8 Article

Fast Eye-in-Hand 3-D Scanner-Robot Calibration for Low Stitching Errors

期刊

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 68, 期 9, 页码 8422-8432

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.3009568

关键词

Data stitching; industrial metrology; kinematic model; manufacturing automation; robot sensing systems; structured light measurement

资金

  1. Natural Sciences and Engineering Research Council of Canada
  2. Canada Research Chairs program
  3. Ontario Research Fund-Research Excellence program

向作者/读者索取更多资源

This study introduces a new eye-in-hand 3D scanner-robot calibration approach which successfully addresses the challenges in scanner calibration and achieves low data stitching errors. Experimental results demonstrate that this method can maintain a low stitching error during long-term continuous measurement.
This article proposes a new eye-in-hand 3-D scanner-robot calibration approach to realize low data stitching errors during long-term continuous measurement. Eye-in-hand 3-D scanner-robot systems are commonly used for the complete measurement of an object under test (OUT) from multiple fields of view (FOVs). To align the multiple FOVs into a single coordinate system, marker-free stitching assisted by robot's positioning is attractive since it bypasses the cumbersome traditional fiducial marker-based method. Based on periodically capturing calibration images from a 2-D calibration target, scanner's and robot kinematic model's parameters are optimized. The challenges overcome in this article include: how to compensate for the center-detection error in scanner calibration; how to avoid the dependence of hand-eye calibration on DH parameters; and how to calculate an accurate world-to-robot transformation. These challenges were tackled by several new techniques including accurate scanner calibration with iterative refinement of control points, virtual arm-based scanner-robot kinematic modeling, and trajectory-based world-to-robot transformation calculation. Experimental results demonstrated a low-initial stitching error similar to the fiducial marker-based method (0.0446 mm versus 0.0542 mm) was achieved. The mean stitching error was effectively maintained to be <0.1 mm during the continuous measurement with an average intermittent downtime of 78 s for recalibration.

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