基于奇异值分解的机器人工具坐标系标定

机器人通过在末端安装不同的操作工具来完成各种作业任务,而工具参数的准确度直接影响着机器人操作精度,因此研究一种准确、快速的工具坐标系标定方法具有重要的意义。该文提出一种称为三点五步法的机器人工具坐标系标定方法,并基于矩阵的奇异值分解理论对该标定方法进行了严密的数学推理,证明该标定方法理论上的可行性。采用该算法进行工具坐标系标定具有操作简单、标定精度高、可靠性强和算法易于程序实现的特点。

Robot Tool Control Frame Calibration Based on SVD

By fixing various tools on the end-effectors,robots can complete various tasks.The accurate of the tool's parameters produce great effect on the accurate of the robot's operation.It is very important to study a kind of TCF calibration method,which is of the property of high precision and quickness.This paper considers a practical method for TCF calibration,called three-points and five-steps method,which is proved by the algorithm based on SVD.Through the strict reasoning,called it shows the feasibility of this method.Simple operation,high accurate,strong reliability and easy programming make the method very applied.