Calibration between a Laser Range Scanner and an Industrial Robot Manipulator

In this paper we present a method for findingthe transformation between a laser scanner and a robotmanipulator. We present the design of a flat calibration targetthat can easily fit between a laser scanner and a conveyor belt,making the method easily implementable in a manufacturingline.We prove that the method works by simulating a range ofdifferent orientations of the target, and performs an extensivenumerical evaluation of the targets design parameters to estab-lish the optimal values as well as the worst-case accuracy ofthe method