摘要
针对机器人视觉在线测量中机器人发生碰撞事故后如何快速恢复测量的问题,提出2种简单易行的机器人工具中心点(TCP)现场快速修复方法.若现场发生机器人碰撞事故,只需控制机器人做几次测量即可重新校准工具坐标系,实现机器人TCP的快速准确修复,有效避免了重新示教机器人测量轨迹等复杂劳动.本文首先根据视觉传感器光平面结构参数定义了机器人工具坐标系及机器人TCP.然后提出基于基准球的工具坐标系校准法和基于公共点偏差的工具坐标系校准法.模拟实验表明,2种方法都可以实现机器人工具坐标系及TCP的快速修复,能满足机器人柔性视觉检测系统中现场机器人发生碰撞事故后快速恢复生产测量的应用需求.
To recover measurement quickly after robot collision in robotic online visual measurement system, two simple and feasible methods to recalibrate the tool center point（TCP） of robot quickly are proposed. When there is a robot collision in the industry field, only several measurements are performed by moving the robot, then the tool coordinate is recalibrated and the robot TCP is recovered accurately, which can effectively avert the complex work of re-teaching the robot＇s measurement trajectory. The tool coordinate and TCP of the robot are defined in this paper first, based on the structure parameters of the light plane in visual sensor. Then the reference sphere based tool coordinate calibration method and common point deviation based calibration method are presented respectively. Simulation experiment testifies that the two methods can recover the robot tool coordinate and TCP quickly, and meet the demand of recovery measurement after robot collision in robotic visual measurement system.
出处
《机器人》
EI
CSCD
北大核心
2013年第6期736-743,共8页
Robot
基金
国家863计划资助项目(2012AA041205)
关键词
工业机器人
工具坐标系
位姿关系
基准球
公共点
TCP
industrial robot
tool coordinate
position and pose relationship
reference sphere
common point
TCP（tool center point）
