弧焊机器人系统标定

Arc welding robot calibration

介绍了在研发昆山一号机器人的过程中所设计的标定工具坐标系的七点法和标定工件坐标系的三点法,实现了机器人工具坐标系及工件坐标系的标定.机器人工具坐标系的标定就是确定工具坐标系相对于末端坐标系的齐次转换矩阵.机器人工件坐标系的标定就是确定工件坐标系相对于基坐标系的齐次转换矩阵.通过系统标定,机器人的定位精度达到了±0.5 mm.实际的焊接试验表明该方法是一种可靠简便,精度高的系统标定方法,完全满足实际加工要求.

Introduces the methods of seven points to calibrate tool coordinate frame and three points to calibrate coordinate frame of work-piece.And both of them are designed during developing Kunshan-1 Robot.These two methods accomplish the calibrations of tool coordinate frame and coordinate frame of work-piece.The calibration of tool coordinate frame is to deduce the homogeneous transfer matrix of tool coordinate frame relative to robot terminal coordinate frame.And the calibration of coordinate frame of work-piec...