To deal with the limitation of robot’s working range

a multiple axes laser 3D scanning system is constructed by robot

a portable 3D laser scanner and turntable. Using a sphere with a known diameter as calibration tool

the pose of the portable scanner relative to the robot is calibrated accurately by scanning the sphere and computing the center position of the sphere. Meanwhile

a method is proposed to calibrate the pose of the turntable relative to the robot. In this approach

several rotational angles of turntable and two different height of the sphere are made to determine the rotational axis of turntable. Experiment results show that the multiple axes laser scanning system can measure the object of large scales from multiple angles and directions. Meanwhile

this system is robust flexible and of high measurement accuracy.