20.500.12556/RUL-134961 Simultaneous hand–eye and intrinsic calibration of a laser profilometer mounted on a robot arm 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. 3D-scanner calibration laser scanning hand-eye calibration laser triangulation profilometer robotic vision kalibracija 3D merilnika lasersko skeniranje laserski triangulacijski profilomer strojni vid true false true Angleški jezik Slovenski jezik Članek v reviji 2022-02-14 08:55:04 2022-02-14 08:55:07 2022-09-14 04:10:53 0000-00-00 00:00:00 2021 0 0 23 str. iss. 4, art. 1037 Vol. 21 Feb. 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.946:681.518.52(045) 1424-8220 10.3390/s21041037 51371011 RAZ_Pavlovcic_Urban_2021.pdf RAZ_Pavlovcic_Urban_2021.pdf 1 220A242A9E0DD5F80D19C54F10EE209B cdb5fad3df69c044b6f6025a08785053ae44719a96a646f7750dbbbe4ba64707 76193dd9-8d6b-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153732 https://www.mdpi.com/1424-8220/21/4/1037 1 3097d465-8d6b-11ec-abdb-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=153731 Fakulteta za strojništvo 0 0 0