工件表面柔性修复系统的现场整体标定

Filed complete calibration methods of flexible restoration system for broken work pieces

为准确并便捷地进行工件表面柔性修复系统的现场标定,针对基于六自由度机械臂与视觉测量技术的柔性修复实验平台提出了一整套标定方法。利用机械臂的运动特点,使用带有校准线的圆形阵列标靶完成检测传感器的标定;设计了一种立体标靶,利用该标靶同时确定修复焊枪末端坐标系与修复机器人基坐标系关系、测量坐标系与修复坐标系关系之间的变换参数。实验表明,此套方法操作步骤明确,精度满足需求,实现了修复系统的现场整体标定。

To improve the field calibration of a flexible restoration system accurately and conveniently,a complete calibration approach was proposed in view of flexible restoration experiment platform which based on both robotic and vision measurement techniques.By taking advantages of the flexible trait of the robot,the calibration of the scanner was finished via a target with nummular matrix and a reference line.A 3D target was designed to determine the relationship between the welding gun coordinate system and the robot base coordinate system as well as the transform parameters of the relationship between the measurement coordinate system and the restoration coordinate system.Experiments showed that the calibration method was accurate with operation procedure and efficient with requirment,besides,the field complete calibration of flexible restoration was realized.