Robotic 3D Structured Light Scanning System Based on External Axle

To solve the related problems of a robot 3D scanner, an external axle is added into the scanning system so that the scanning path is simplified obviously, work range is enlarged and scanning accuracy is improved. Some key points such as the kinematics model of the system, stripe light sensor model, hand-eye calibration and robot-external axle calibration etc. are discussed. The feasibility of the presented approach is demonstrated via some experiments.