基于模拟退火算法的工件位置标定

从实用的角度分析了焊接工件的定位问题，提出了在机器人焊接条件下，基于模拟退火算法的工件位置标定算法。标定时，不需要增加其它的辅助设备，利用机器人示教功能获得少数参考点(大于或等于3点)的坐标，然后用模拟退火算法求出从工件模型到实际工件的位置变换矩阵。算法是通用的且具有较高的精度，标定算法的计算误差小于0．02mm。示教误差对工件位置标定有一定的影响，但是，示教误差会在一定程度上互相抵消，使得工件位置标定误差较小，通常小于0．5mm，极端情况下，标定误差小于0．9mm，可以满足焊接工艺的要求。如果焊接工件的位置标定是在路径规划之前进行的，规划时用到的位姿数据是对应真实世界中的数据，则路径规划的结果可以直接用于下载到机器人控制柜运行。

Calibrating workpiece position based on simulated annealing

Based on the analysis of practical workpiece position calibration,an algorithm for calibrating workpiece position based on simulated annealing was carried out for robot welding.By teaching 3 or more points that were far away from each other and not collinear as possible with the real robot,the position information was obtained implicitly.Then a simulated annealing algorithm was designed for calculating the transform matrix from the model to the real workpiece.It was a universal and precise algorithm.The max calculation error is under 0.02 mm max.To a certain extend,teaching error may affect the calibration result.Generally,the calibration error is under 0.5 mm,and under 0.9 mm in the extreme.If the calibration was performed before path planning,the program generated off line could be downloaded directly to the robot controller.