Sensors 2009, 9(9), 7374-7396; doi:10.3390/s90907374
Article

Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines

Departamento de Ingeniería de Diseño y Fabricación, Centro Politécnico Superior, Universidad de Zaragoza, c/ María de Luna, 3, 50018 Zaragoza, Spain
* Author to whom correspondence should be addressed.
Received: 14 July 2009; in revised form: 9 September 2009 / Accepted: 10 September 2009 / Published: 11 September 2009
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain)
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Abstract: A technique for intrinsic and extrinsic calibration of a laser triangulation sensor (LTS) integrated in an articulated arm coordinate measuring machine (AACMM) is presented in this paper. After applying a novel approach to the AACMM kinematic parameter identification problem, by means of a single calibration gauge object, a one-step calibration method to obtain both intrinsic―laser plane, CCD sensor and camera geometry―and extrinsic parameters related to the AACMM main frame has been developed. This allows the integration of LTS and AACMM mathematical models without the need of additional optimization methods after the prior sensor calibration, usually done in a coordinate measuring machine (CMM) before the assembly of the sensor in the arm. The experimental tests results for accuracy and repeatability show the suitable performance of this technique, resulting in a reliable, quick and friendly calibration method for the AACMM final user. The presented method is also valid for sensor integration in robot arms and CMMs.
Keywords: laser triangulation sensor; articulated arm coordinate measuring machine; extrinsic and intrinsic calibration; non contact measurement; digitalization

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MDPI and ACS Style

Santolaria, J.; Guillomía, D.; Cajal, C.; Albajez, J.A.; Aguilar, J.J. Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines. Sensors 2009, 9, 7374-7396.

AMA Style

Santolaria J, Guillomía D, Cajal C, Albajez JA, Aguilar JJ. Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines. Sensors. 2009; 9(9):7374-7396.

Chicago/Turabian Style

Santolaria, Jorge; Guillomía, David; Cajal, Carlos; Albajez, José A.; Aguilar, Juan J. 2009. "Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines." Sensors 9, no. 9: 7374-7396.

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