Hello.
What are the ways to calibrate the laser sensor (2D scanner, range finder) on the robot flange? It is necessary to find a zero point (TCP), and the orientation of the laser beam.
Is there any software?
Calibrating the laser sensor (2D scanner, range finder) on the robot flange
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varaav -
November 5, 2016 at 2:22 PM -
Thread is marked as Resolved.
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There isn't a simple way to do this. The simplest would be to have an very good CAD model of your sensor, and how it is mounted to the robot, and simply assign the TCP values from the CAD data. That usually works well, as long as the CAD data is accurate enough.
For any laser-type sensor, the hard part is getting the 3rd dimension. You could, for example, place the laser dot on a target point from multiple different angles, but without a means to ensure that the length of the laser beam is constant at each of those points, there's no way to perform a spherical fit. If your laser is a range-measuring type, you might be able to get around this, but rangefinding lasers are usually vulnerable to angle changes.
You cloud try affixing a rod to your end effector, with the tip located at the point on the laser beam where you want the TCP to be. Then use the robot's normal 4-point TCP measurement process, using the rod tip. That should generate a pretty reasonable TCP.