With the development of the green manufacture, a robotic inspection system is presented to meet the requirement of remanufacturing engineering. It solves the problem of acquiring the information of the three dimensions (3D) shape feature in a timely and effective manner. As to set up this system efficiently, a calibration approach of the main part of the system, the line structured light sensor, based on a six degree of freedom (6-DOF) robot is proposed. This approach takes the advantage of the flexibility of the robot for simplifying the traditional sensor calibration approach and generates the calibration control points with concentric circle to refine the precision of locating its center. The actual experiment demonstrates that this approach is suitable for field calibration with conveniences and good accuracy.