工业机器人工件坐标系激光标定研究分析

Research and Analysis on Laser Calibration of Industrial Robot Workpiece Coordinate System

合理选用工业机器人坐标系在工业机器人轨迹规划中能起到事半功倍的作用,课题组针对工业机器人坐标系中的工件坐标系进行了深入分析,提出了采用激光标定的方式计算工业机器人工件坐标的理论分析方法;对于工业机器人运行误差所产生的标定偏差,提出了采用激光公垂线中心点求取近似交点的方式减小标定偏差,并设计了激光标定的实验步骤,为工业机器人工件坐标系标定的理论研究提供了思路。

The rational choice of the industrial robot coordinate system can get twice the result with half the effort in the path planning of the industrial robot.The research group has carried out in-depth theoretical analysis on the workpiece coordinate system in the industrial robot coordinate system,and proposed a theoretical analysis method for calculating the coordinates of industrial robot workpiece by laser calibration;For the calibration error caused by the operation error of industrial robot,the method of finding the approximate intersection point of the Common Vertical Line of the laser is proposed to reduce the calibration error,and the experimental steps of the laser calibration are designed,which provides a idea for the theoretical research on the calibration of the workpiece coordinate system of industrial robot.