Apparatus and method for calibrating laser displacement sensor for use with robot

An apparatus for calibrating a laser displacement sensor for use with a robot, the apparatus comprising:

• an auxiliary object arranged in a work space of the robot or held by the robot and comprising a planar surface adapted to be detected by the laser displacement sensor, wherein when the auxiliary object arranged in the work space of the robot, the laser displacement sensor is arranged on or near to a robot flange of the robot, and when the auxiliary object is held by the robot, the laser displacement sensor is arranged at a fixed position in the work space of the robot;
• and
• a controller configured to:
• determine a characteristic point on the planar surface of the auxiliary object based on a detection result from the laser displacement sensor;
• cause the laser displacement sensor to point at the characteristic point for plural times with the same angle and different distances to obtain an orientation of the laser displacement sensor;
• and
• cause the laser displacement sensor to point at the characteristic point for plural times with different angles and the same distance to obtain a relative position relationship between the laser displacement sensor and the robot.