A method for simultaneous laser profilometer and hand–eye calibration in relation to an industrial robot as well as its implementation is presented. In contrast to other methods, the new calibration procedure requires the measurement of only one reference geometry to calculate all the transformation parameters. The reference geometry is measured with a laser profilometer from 15 different poses. The intrinsic parameters of the profilometer, as well as the extrinsic (hand–eye) parameters, are then numerically optimized to achieve the minimum deviation between the reference and the measured geometry. The method was characterized with experiments that revealed a standard deviation of the displacements between the reference geometry after the calibration of less than 0.105 mm in the case of using the robot-arm actuator and 0.046 mm in case of using a 5-axis CNC milling machine. The entire procedure, including measurement and calculation, can be completely automated and lasts less than 10 min. This opens up possibilities for regular on-site recalibration of the entire system.
An advanced automatic calibration procedure and its versatile usage in the context of the adaptive robot welding technology are presented. The 3D scanner-based robot welding system calibration is composed of the measurement of the reference plate and numerical optimization of the hand-eye and intrinsic parameters by minimizing the deviation between the measured and reference plate. The measurements of the reference plate are acquired from various robot poses (typically 15). The shape features of the reference plate are then detected, and finally, the calculation of hand-eye and intrinsic parameters is performed using Powell’s optimization algorithm, where the merit function presents an average deviation between the measured and reference geometry. Validation experiments show appropriate system accuracy which is better than 0.06 mm perpendicular to the scanning direction. This calibration procedure’s important features are complete automation and fast execution times (approximately 90 s). This enables its implementation into a regular daily robot self-maintenance and monitoring plan. The universal use of such a robot welding system is demonstrated in multi-layer heavy-duty welding of thick pipes on cast machined hollow parts and in precise laser welding of thin sheet metal parts.
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