摘要
利用七点法确定工具坐标系末端点相对于机器人法兰中心的位置与姿态的偏置,通过机器人运动学推导,并根据工具末端点与法兰中心的几何关系,确定工具末端点相对于法兰的位置与姿态,不需要借助测量工具。本方法已应用到Efort机器人工具标定系统中,而且经过激光跟踪仪计算,机器人的直线度和圆弧度均控制在±0.5mm之内,证明了此方法是切实可行的。
Calculating the position that tool center point relative to flange center and pose that tool frame relative to flange frame by seven points method. According to derivation of robot kinematics and geometry between tool center point and flange center, recognizing the relative postion and pose of the tool frame to flange frame without the aid of measuring instruments. This method has been applied to Efort robot tool calibration system, and after laser tracker calculations, straightness and roundness of the robot are controlled within 0.5mm, then, proving that this method is feasible.
出处
《自动化与仪器仪表》
2014年第9期76-77,共2页
Automation & Instrumentation
基金
国家高技术研究发展计划(863计划)(2014AA041601)
