基于十字交叉激光法的机器人TCP校准系统开发

Development of TCP Calibration System for Robot Based on Cross Laser Method

在工业机器人应用于弧焊、点焊、涂胶等接触任务过程中,为实现工具中心点(TCP)位姿误差高效校准,提出基于U形激光测量传感器的TCP非接触式测量系统。该系统采用十字交叉激光法进行误差模型测量和更新末端工具坐标,实现机器人预设运行轨迹的自动修正,克服了离线编程中因工具坐标系发生偏移而导致的焊接质量的不确定性。系统通过TCP校准程序测量TCP与机器人末端法兰中心的相对位置,校准结果重复精度优于0.6077 mm,验证测量结果的准确性和运动轨迹精度。

To efficiently calibrate the position and orientation of the tool center point(TCP)when industrial robots are used in contact tasks such as arc welding,spot welding and gluing,a non-contact TCP calibration system for robot based on U-shaped laser measuring sensor is proposed.The system uses the cross-laser method to measure the error model and update the terminal tool coordinates.Then the preset trajectory of the robot is automatically corrected,which overcame the uncertainty of welding quality caused by the offset of the tool coordinate system in off-line programming.The relative position of TCP to the center of the robot end flange is measured by the comprehensive performance evaluation method of TCP calibration and correction.And the accuracy of the calibration results is better than 0.6077 mm,which verifies the accuracy of the measurement results and the accuracy of the motion trajectory.