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@ARTICLE{Lembono_T-ASE_2019,
         author = {Lembono, Teguh Santoso and Suarez-Ruiz, Francisco and Pham, Quang-Cuong},
         editor = {Hytowitz, Rebecca},
       keywords = {calibration, Measurement by laser beam, Robot kinematics },
       projects = {Idiap},
          month = oct,
          title = {SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints},
        journal = {IEEE Transactions on Automation Science and Engineering},
         volume = {16},
         number = {4},
           year = {2019},
          pages = {1971-1979},
            doi = {10.1109/TASE.2019.2918141},
       abstract = {In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2-D laser range finder (LRF) attached to the robot's flange. The calibration setup requires only a flat plate with two small holes carved on it at a known distance from each other and a sharp tool-tip attached to the robot's flange. The calibration is formulated as a nonlinear optimization problem where the laser and the tool-tip are used to provide the planar and distance constraints, and the optimization problem is solved using the Levenberg-Marquardt algorithm. We demonstrate through experiments that SCALAR can reduce the mean and the maximum tool position error from 0.44 to 0.19 mm and from 1.41 to 0.50 mm, respectively.}
}