I have developed an automated 3D scanning system where a custom developed scanner is mounted on the robot(KUKA KR5, KRC4 controller). Robot co-ordinates are used for registration. Now the problem is that the registration accuracy is not satisfactory, literature survey showed that accuracy depends on the absolute positioning accuracy of the robot.
There are few calibration procedures using laser trackers or portable CMMs and some make use of cameras to calibrate the robot. The last option is the only feasible one for me.
So my question is does anyone have experience of calibrating the robot using vision?