ARTICLE Lembono_T-ASE_2019/IDIAP SCALAR: Simultaneous Calibration of 2-D Laser and Robot Kinematic Parameters Using Planarity and Distance Constraints Lembono, Teguh Santoso Suarez-Ruiz, Francisco Pham, Quang-Cuong Hytowitz, Rebecca Ed. calibration Measurement by laser beam Robot kinematics IEEE Transactions on Automation Science and Engineering 16 4 1971-1979 2019 10.1109/TASE.2019.2918141 doi 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.