  In this paper, we propose SCALAR, a calibration method to simultaneously
calibrate the kinematic parameters of a 6-DoF robot and the extrinsic
parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The
calibration setup requires only a flat plate with two small holes carved on it
at a known distance from each other, and a sharp tool-tip attached to the
robot's flange. The calibration is formulated as a nonlinear optimization
problem where the laser and the tool-tip are used to provide planar and
distance constraints, and the optimization problem is solved using
Levenberg-Marquardt algorithm. We demonstrate through experiments that SCALAR
can reduce the mean and the maximum tool position error from 0.44 mm to 0.19 mm
and from 1.41 mm to 0.50 mm, respectively.
