The registration of point cloud is important for large object measurement. A measurement method for coordinate system transformation based on robot is proposed in this paper. Firstly, for obtaining extrinsic parameters, the robot
moves to three different positions to capture the images of three targets. Then the transformation matrix X between
camera and tool center point (TCP) coordinate systems can be calculated by using the known parameters of robot and
the extrinsic parameters, and finally the multi-view coordinate system can be transformed into robot coordinate system
by the transformation matrix X. With the help of robot, the multi-view point cloud can be easily transformed into a
unified coordinate system. By using robot, the measurement doesn’t need any mark. Experimental results show that
the method is effective.