机电工程技术2024，Vol.53Issue(7)：1-7,118,8.DOI:10.3969/j.issn.1009-9492.2024.07.001
基于上位机的工业机器人磨头工具坐标系自动标定技术研究
Research on Automatic Calibration Technology of Robot Grinding Head Tool Coordinate System Based on Host Computer
摘要
Abstract
Introducing automatic calibration of industrial robots into the manufacturing field can achieve rapid calibration and improve efficiency when the actuation tool needs to be replaced.Addressing the current situation where the tool coordinate systems of industrial robots require manual calibration using teach pendants,a robot grinding tool coordinate system automatic calibration system based on an upper computer is designed.The system achieves automatic calibration of the tool coordinate system for FANUC M20iA/20M industrial robots through upper computer software,covering the calibration of the tool center point position and orientation.This reduces the need for teach pendants and shortens the calibration time.The position calibration of the tool center point is accomplished using a four-point calibration method to solve the end effector coordinate system pose data.The grinding tool coordinate system position is determined using the least squares method,and quaternion representation is applied to reduce computational complexity.The orientation calibration of the tool center point maintains the tool coordinate system pose,records end effector coordinate system data at different calibration points,and incorporates joint motion control modules,coordinate system setup modules,and pose calibration linear motion modules.The upper computer communicates with the robot through Socket,sending control commands to facilitate automatic calibration process control.Simulation and experimental results indicate that the designed calibration system can achieve automatic high-precision calibration of the grinding tool coordinate system with an accuracy of±0.3 mm,meeting practical processing requirements and laying the foundation for subsequent applications of industrial robot grinding and polishing.关键词
上位机/工业机器人/磨头/工具坐标系/自动标定Key words
host computer/industrial robot/grinding head/tool coordinate system/automatic calibration分类
信息技术与安全科学引用本文复制引用
梁忠伟,谢智铭,梁家健,张卫鹏,唐荟,殷浚彬..基于上位机的工业机器人磨头工具坐标系自动标定技术研究[J].机电工程技术,2024,53(7):1-7,118,8.基金项目
国家重点研发计划项目(2023YFD2101004) （2023YFD2101004）
国家自然科学基金资助项目(51975136) （51975136）
广东省自然科学基金资助项目(2023A1515011723),教育部产学研协同创新项目(230703950183536,220903950010408),广东省高校重点领域专项(2023ZDZX3016,2019KZDZX1009) （2023A1515011723）
广州高校产学研重点项目(202235139) （202235139）
广州大学科研项目(YJ2023034,YJ2021002) （YJ2023034,YJ2021002）
