计算机工程与应用2016，Vol.52Issue(18)：18-23,6.DOI:10.3778/j.issn.1002-8331.1512-0302
基于可测距平板工具的机器人TCP标定方法
Robotic TCP calibration method based on plane toolbar with dis-tance measure function
摘要
Abstract
For the Tool Center Point(TCP)calibration of an industrial robot, a calibration based on a calibration toolbar function with two-dimensional ranging is proposed. The calibration toolbar is capable of sensing the touch of the robotic TCP and measuring the distance between any two contact points. Robotic TCP touches the calibration toolbar four times and the TCP parameter calibration model can be established for the constraint that the length of line segments formed by the contact points is the coordinate transformation invariants. The model includes a ternary quadratic algebraic equation set. All possible solutions can be found out through the elimination method and the determination method of the real solution is proposed. The method is proven to be feasible by numerical simulation. Resistive touch screen used as the calibration toolbar, for example, the resolution of two-dimensional calibration ranging toolbar influence on calibration accuracy is researched and calibration experiments results show that the method has high accuracy. The calibration whose process is simple and easy for automatization can be applied for most robots.关键词
机器人运动学/工具中心点(TCP)标定/二维测距/标定精度Key words
robotic kinematics/Tool Center Point(TCP)calibration/two-dimensional ranging/calibration accuracy分类
信息技术与安全科学引用本文复制引用
韩奉林,江晓磊,严宏志..基于可测距平板工具的机器人TCP标定方法[J].计算机工程与应用,2016,52(18):18-23,6.基金项目
国家自然科学青年基金（No.51405518）。 （）
