Calibration procedures for object locating sensors in flexible robotized machining

Abstract

We present calibration procedures for localization sensor systems for flexible robotic machining. For the needs of flexible production with varying parts and locations, object detection and localizing sensor systems carry out rough global localisation with a laser profiler or a multi-camera system. For needs of machining, more accurate and local object and surface localisation is carried out with a wrist mounted high resolution laser profiler. The calibration procedures for these sensors were implemented and tested with an industrial robot. The novelty of our work is in relying on simple calibration objects, enabling easy and flexible calibration procedures.