双机器人基坐标系标定方法的研究

Research on calibration method of base coordinate system for Dual robots

针对双机器人基坐标系标定过程复杂、定位精度不高,提出一种基于"三点定圆"的改进双机器人基坐标系标定方法。通过分析误差原理以及引入高斯白噪声误差,结合理论分析和软件仿真设计实验。结果表明改进后的双机器人基坐标系标定方法具有准确性和稳定性,保持了良好的定位精度。

Aiming at the complex calibration process and low positioning accuracy of the base coordinate system of double robots,this paper proposes an improved base coordinate system calibration method of double robots based on"three-point circle determination".By analyzing the error principle and introducing Gaussian white noise error,the experiment is designed by combining theoretical analysis and software simulation.The results show that the improved calibration method has accuracy and stability,and maintains good positioning accuracy.