摘要
针对工业机器人气囊抛光工具参数标定困难的问题,提出一种简便有效、易于操作的工具坐标系参数标定新方法。首先介绍了工具坐标系的标定原理,建立了机器人抛光系统的各个坐标系,然后根据工件转台与机器人的位置关系,提出一种只依靠机器人系统本身的工具参数标定算法,采用姿态转换及简单几何数学的计算即可实现。最后,以ER20D-C10型机器人为试验平台,对气囊抛光工具的参数进行标定并与传统标定方法对比,结果表明该方法是一种易操作、高精度的工具参数标定方法,满足机器人气囊抛光的技术要求。
Because it is difficult to calibrate the parameters of the airbag polishing tool of an industrial robot,a new method for calibrating the parameters of the tool′s coordinate system is presented.This paper first introduces the calibration principles of the coordinate system,establishes each coordinate system.Then according to the position relationship between workpiece turntable and robot,it puts forward the tool′s parameter calibration algorithm that depends on only the robot system itself and can be realized by attitude transformation and simple geometric mathematical calculation.Finally,the ER20D-C10 robot is used as the test platform to calibrate the parameters of the airbag polishing tool and to compare our calibration method with the traditional calibration method.The results show that our calibration method is easy to use and highly precise,thus meeting the technical requirements for robot airbag polishing.
作者
曾灿灿
倪磊
倪晋
Zeng Cancan;Ni Lei;Ni Jin(The Ministry of Education Key Laboratory of Manufacturing Process Testing Technology,Southwest University of Science and Technology,Sichuan Mianyang 621000,China;Chengdu Ruikun Technology Co.,Ltd.,Chengdu 610207,China)
出处
《机械科学与技术》
CSCD
北大核心
2020年第7期1060-1065,共6页
Mechanical Science and Technology for Aerospace Engineering
基金
四川省教育厅项目(17ZB0451)
西南科技大学博士基金项目(13zx7152)资助。
关键词
工业机器人
气囊抛光
工具坐标系
参数标定
industrial robot
airbag polishing tool
coordinate system
parameter calibration
