摘要
机器人工具坐标系标定是实现工具精确定位的关键技术之一，是机器人操作工具之前的必要步骤。本文提出一种基于激光跟踪仪对工具坐标系位姿进行标定的方法，工具中心点（TCP）位置采用基于距离约束的方法，实现对机器人工具坐标系的位置进行标定，工具坐标系（TCF）姿态采用矩阵转换的方法实现；在基于最小二乘原理的基础上，对所采集到的数据编程实现，并对标定精度进行分析。结果表明，该方法标定工具坐标系的精度满足实际要求。
The calibration of robot tool coordinate frame （TCF） is one of the critical technologies for accurate positioning of tool, which is the key step before robot operation. A TCF calibration method based on laser tracker is proposed in this paper. The tool central point （TCP） position is fixed using the distance restriction method to calibrate TCF position, and TCF attitude is real- ized with the matrix transformation method. The gathered data are processed by programming based on the principle of least squares, and the calibration accuracy is analyzed. The result shows that the calibration accuracy of TCF in this way can meet the practical requirement.
出处
《测绘科学与工程》
2017年第2期19-22,39,共5页
Geomatics Science and Engineering
基金
河南省科技攻关基金资助项目（152102210006
162102210029）.
关键词
工具坐标系
距离约束
最小二乘原理
激光跟踪仪
tool coordinate frame
distance restriction
principle of least squares
laser tracker
