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<p>This study developed a novel laser-assisted calibration method for virtual tool center points in robotic applications, addressing critical limitations of traditional calibration techniques. Conventional methods often rely on physical tool features or auxiliary fixtures, which are susceptible to assembly errors, inefficiencies, and limited adaptability. The proposed approach integrates a laser source, a rotary table, and a two-dimensional vision sensor to enable high-precision calibration of the virtual tool center point and tool-axis orientation without relying on external fixtures. The proposed method can eliminate common sources of error and streamline the calibration process, thereby reducing calibration time from over 30&#xa0;min to less than 6&#xa0;min while achieving sub-millimeter precision. Experimental validation was conducted using adhesive dispensing tools on three robotic arms and demonstrated a maximum calibration error of 0.3&#xa0;mm and consistent accuracy across setups. Although the method was validated using adhesive dispensing tools, it is not limited to this context and can be generalized to other V-TCP-based robotic tasks—such as inspection, laser processing, or non-contact manipulation—making it suitable for flexible, high-mix manufacturing environments.</p>

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Efficient and precise laser-assisted calibration of virtual tool center points for robotic systems

  • 期刊论文

  • 发表日期：

    2025年7月21日

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  • Kun-Ying Li,
  • Cheng-Kai Huang

摘要

This study developed a novel laser-assisted calibration method for virtual tool center points in robotic applications, addressing critical limitations of traditional calibration techniques. Conventional methods often rely on physical tool features or auxiliary fixtures, which are susceptible to assembly errors, inefficiencies, and limited adaptability. The proposed approach integrates a laser source, a rotary table, and a two-dimensional vision sensor to enable high-precision calibration of the virtual tool center point and tool-axis orientation without relying on external fixtures. The proposed method can eliminate common sources of error and streamline the calibration process, thereby reducing calibration time from over 30 min to less than 6 min while achieving sub-millimeter precision. Experimental validation was conducted using adhesive dispensing tools on three robotic arms and demonstrated a maximum calibration error of 0.3 mm and consistent accuracy across setups. Although the method was validated using adhesive dispensing tools, it is not limited to this context and can be generalized to other V-TCP-based robotic tasks—such as inspection, laser processing, or non-contact manipulation—making it suitable for flexible, high-mix manufacturing environments.