摘要
针对激光跟踪仪与机器人基坐标系的转换参数求解问题,提出一种基于距离约束与公共点转换相结合的坐标系转换方法。首先,采用基于距离约束的方法对机器人工具中心点进行标定,计算出工具中心点在机器人基坐标系中的位置;其次,控制机器人在其作业空间内不同位置进行示教,分别记录工具中心点在机器人基坐标系和激光跟踪仪坐标系内的位置;最后,采用基于象限分布的公共点选取方法,选择空间几何分布合理的公共点,求取最优的转换参数。实验表明,该方法稳定性好,操作简单,可提高坐标系转换的效率。
To solve the transformation parameters of laser tracker and robot base coordinate system,a coordinate system transformation method based on distance constraint and common point transformation is proposed.First,the center point of the robot tool is calibrated based on distance constraint,and the position of the center point of the tool in the robot base coordinate system is calculated.Second,the robot is controlled for demonstration at different positions in its working space,and the positions of the center point of the tool in the robot base coordinate system and the laser tracker coordinate system are recorded respectively.Finally,the method of selecting the common point based on quadrant distribution is used to select the common point with reasonable spatial geometric distribution and obtain the optimal conversion parameters.Experiments show that the method is stable and simple to operate,and can improve the efficiency of coordinate system transformation.
作者
徐福乾
范百兴
段童虎
黄赫
陈哲
XU Fuqian;FAN Baixing;DUAN Tonghu;HUANG He;CHEN Zhe(Information Engineering University,Zhengzhou 450001,China)
出处
《信息工程大学学报》
2022年第2期179-183,共5页
Journal of Information Engineering University
关键词
工业机器人
激光跟踪仪
坐标系
转换精度
空间分布
industrial robot
laser tracker
coordinate system
conversion accuracy
spatial distribution
