摘要
在多传感器信息应用的前提下,针对马鞍型焊缝工件首次提出了工件坐标系的三点标定方法.利用从机器人控制柜获取实际工件上的3个特殊点位置,通过VB编程完成了工件坐标系标定.在此基础上,采用FANUC公司的六点标定方法,对工具坐标系进行了标定,从而为机器人离线编程的进行提供了前提条件.试验表明,通过以上的系统标定,机器人的定位精度达到了±0.5 mm,满足了工厂的实用要求.
A method using three points to calibrate coordinate frame of work-piece on the basis of some sensor information is presenied. By getting position data of three special points on the real work-piece and VB programming, the calibration of work-piece coordinate system is completed. Then according to six points calibration method of FANUC company, tool coordinate system is calibrated. This two calibration methods provide reliable theory basis for the arc welding robot off-programming. The test result shows the robot location error get to ±0.5mm and can be used to weld in the factory.
出处
《天津工业大学学报》
CAS
2007年第2期69-72,共4页
Journal of Tiangong University
基金
天津市自然科学基金重点项目(05YFJZJC02100)
关键词
弧焊机器人
工件坐标系
标定
TCF参数
arc welding robot
coordinate frame of work-piece
calibration
TCF parameters
