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Industrial robots are increasingly used in various applications where therobot accuracy becomes very important, hence calibrations of the robot'skinematic parameters and the measurement system's extrinsic parameters arerequired. However, the existing calibration approaches are either toocumbersome or require another expensive external measurement system such aslaser tracker or measurement spinarm. In this paper, we propose SCALAR, acalibration method to simultaneously improve the kinematic parameters of a6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) whichis attached to the robot. Three flat planes are placed around the robot, andfor each plane the robot moves to several poses such that the LRF's rayintersect the respective plane. Geometric planar constraints are then used tooptimize the calibration parameters using Levenberg- Marquardt nonlinearoptimization algorithm. We demonstrate through simulations that SCALAR canreduce the average position and orientation errors of the robot system from14.6mm and 4.05 degrees to 0.09mm and 0.02 degrees.

SCALAR - Simultaneous Calibration of 2D Laser and Robot's Kinematic Parameters Using Three Planar Constraints