Enhanced Calibration Method for Robotic Flexible 3D Scanning System

摘要

Large-sized components with numerous small key local features are essential in advanced manufacturing. Achieving high-precision quality control necessitates accurate and high-efficiency three-dimensional (3D) measurement techniques. A flexible measurement system integrating a fringe-projection-based 3D scanner with an industrial robot is developed to enable the rapid measurement of large object surfaces. To enhance overall measurement accuracy, we propose an online calibration method utilizing a multidimensional ball-based calibrator to simultaneously calibrate for hand-eye transformation and robot kinematic parameters. Firstly, a preliminary hand–eye calibration method is introduced to compensate for measurement errors at observation points, leveraging angular-constraint-based optimization and a virtual single point derived via the barycentric calculation method. Subsequently, a distance-constrained calibration method is proposed to jointly estimate the hand–eye transformation and robot kinematic parameters, wherein a distance error model is constructed to link parameter errors with the measured deviations of a virtual single point. Finally, calibration and validation experiments were carried out, and the results indicate that the maximum and average measurement errors were reduced from 1.041 mm and 0.809 mm to 0.428 mm and 0.394 mm, respectively, thereby confirming the effectiveness of the proposed method.