Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model

In order to solve the problems of traditional calibration methods, such as assigning internal and external parameters for camera and hand-eye relation matrices, a new method to calibrate weld coating robots based on plane-to-plane intersection model is developed in this paper. The mathematical model of the system is established by the homogeneous transformation theory, and then used to calibrate the line structured light sensor (LSLS). By adjusting the robot, the coordinate systems of the LSLS and the workpiece are superposed to solve the hand-eye relation matrix of the car roof weld coating robot. Finally, the calibrated experimental process and results towards car roof weld coating robot system are analyzed. The results show that this method is simple and high accuracy in roof weld coating robot system, and can be applied to the field calibration of car roof weld coating robot system. Furthermore, it can provide guiding significance for calibration of other robot systems.