Base Detection Research of Drilling Robot System by Using Visual Inspection

Table 7

Values before changing coordinate system.

	Coordinate of industrial camera	Value of laser displacement Sensor	Gesture of robot; (, , , , , ); /mm, /mm, /mm, /°, /°, /°
	(855.5, 573.5)		(185.09, , 1689.50, , 0.026, 0.0259)
	(881.75, 585.00)		(215.49, , 1689.62, , 0.021, 0.020)
	(889.5, 590.75)		(185.57, , 1659.88, , 0.021, 0.024)