Robot-sensor calibration for a 3D vision assisted drawing robot

In this paper, we devise a robot-to-sensor calibration technique for a drawing robot working simultaneously with a low-cost 3D sensor. The framework allows the robot to create a calibration object and exploits the geometrical and the texture properties of its 3D mesh representation to identify the transformation between the robot and the sensor coordinates systems. The calibration is followed by experimental analysis validating the approach. The proposed technique is a simple and efficient way to calibrate the robot-vision system in the context of drawing/writing tasks.