{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,18]],"date-time":"2026-01-18T05:34:44Z","timestamp":1768714484237,"version":"3.49.0"},"reference-count":18,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2009,9,11]],"date-time":"2009-09-11T00:00:00Z","timestamp":1252627200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>A technique for intrinsic and extrinsic calibration of a laser triangulation sensor (LTS) integrated in an articulated arm coordinate measuring machine (AACMM) is presented in this paper. After applying a novel approach to the AACMM kinematic parameter identification problem, by means of a single calibration gauge object, a one-step calibration method to obtain both intrinsic\u2015laser plane, CCD sensor and camera geometry\u2015and extrinsic parameters related to the AACMM main frame has been developed. This allows the integration of LTS and AACMM mathematical models without the need of additional optimization methods after the prior sensor calibration, usually done in a coordinate measuring machine (CMM) before the assembly of the sensor in the arm. The experimental tests results for accuracy and repeatability show the suitable performance of this technique, resulting in a reliable, quick and friendly calibration method for the AACMM final user. The presented method is also valid for sensor integration in robot arms and CMMs.<\/jats:p>","DOI":"10.3390\/s90907374","type":"journal-article","created":{"date-parts":[[2009,9,11]],"date-time":"2009-09-11T10:45:00Z","timestamp":1252665900000},"page":"7374-7396","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":46,"title":["Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7316-0003","authenticated-orcid":false,"given":"Jorge","family":"Santolaria","sequence":"first","affiliation":[{"name":"Departamento de Ingenier\u00eda de Dise\u00f1o y Fabricaci\u00f3n, Centro Polit\u00e9cnico Superior, Universidad de Zaragoza, c\/ Mar\u00eda de Luna, 3, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"David","family":"Guillom\u00eda","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Dise\u00f1o y Fabricaci\u00f3n, Centro Polit\u00e9cnico Superior, Universidad de Zaragoza, c\/ Mar\u00eda de Luna, 3, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Carlos","family":"Cajal","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Dise\u00f1o y Fabricaci\u00f3n, Centro Polit\u00e9cnico Superior, Universidad de Zaragoza, c\/ Mar\u00eda de Luna, 3, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4839-0610","authenticated-orcid":false,"given":"Jos\u00e9 A.","family":"Albajez","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Dise\u00f1o y Fabricaci\u00f3n, Centro Polit\u00e9cnico Superior, Universidad de Zaragoza, c\/ Mar\u00eda de Luna, 3, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Juan J.","family":"Aguilar","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Dise\u00f1o y Fabricaci\u00f3n, Centro Polit\u00e9cnico Superior, Universidad de Zaragoza, c\/ Mar\u00eda de Luna, 3, 50018 Zaragoza, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2009,9,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"568","DOI":"10.3390\/s90100568","article-title":"State-of-the-art and applications of 3D imaging sensors in industry, cultural heritage, medicine, and criminal investigation","volume":"9","author":"Sansoni","year":"2009","journal-title":"Sensors"},{"key":"ref_2","first-page":"739","article-title":"Accuracy analysis of laser scanning probes used in coordinate measurement: Simulation and experiments","volume":"1860","author":"Aguilar","year":"2004","journal-title":"VDI Berichte"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"224","DOI":"10.1016\/S0924-4247(98)00235-0","article-title":"Study on laser stripe sensor","volume":"72","author":"Zhang","year":"1999","journal-title":"Sens. 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