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An industrial robot calibration algorithm is presented, which uses a line-structure-light sensor. In the proposed method, the sensor is attached to the robot's end-effector and the centre of a ball with known radius is regarded as a virtue point and the robot carries the sensor to measure this virtue point. The kinematic parameters of the robot are estimated due to the coordinates of the virtue point is invariable in robot base frame. An example verifies the effectiveness of the proposed method.