安徽工程大学学报2025，Vol.40Issue(5)：18-27,10.
基于位姿追踪的喷涂机器人演示示教方法
A Demonstration Teaching Method for Spraying Robot Based on Pose Tracking
摘要
Abstract
Aiming at the problems of low efficiency,high cost,and poor equipment adaptability associated with the traditional teaching methods of spraying robots when handling flexible spraying of multiple varieties and small batches,a demonstration teaching method for spraying robots based on pose tracking is proposed.Firstly,the pose information in the base station coordinate system is obtained by the tracker.Then,the position of the tip of the teaching device in different coordinate systems is determined by using the four-point calibration method.Subsequently,the singular value decomposition is combined with the tip positions obtained from the four-point calibration method to calculate the initial transformation matrix between the base station coordinate system and the robot base coordinate system.Finally,the normal iterative closest point algorithm is employed to refine the initial transformation matrix,thereby further enhancing the accuracy of the pose transformation.The demonstration and teaching system of spraying robot is set up,and the multi-dimensional demonstration and teaching experiment is carried out to verify the effectiveness of the proposed method.关键词
喷涂机器人/演示示教/轨迹追踪/位姿转换Key words
spraying robot/demonstration teaching/trajectory tracking/pose transformation分类
信息技术与安全科学引用本文复制引用
程旭,方明,王俊龙,侯亮亮..基于位姿追踪的喷涂机器人演示示教方法[J].安徽工程大学学报,2025,40(5):18-27,10.基金项目
安徽省科技攻坚计划项目(202423h08050002) （202423h08050002）
芜湖市科技计划项目(2023yf041) （2023yf041）
芜湖市"赤铸之光"重大科技项目(2023zd10) （2023zd10）
