| 基于超声波测距的TCP标定方法研究 |
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| 引用本文： | 吴乐平,顾晟吉,程伟国. 基于超声波测距的TCP标定方法研究[J]. 机械制造与自动化, 2021, 50(1): 209-210. DOI: 10.19344/j.cnki.issn1671-5276.2021.01.053 |
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| 作者姓名： | 吴乐平 顾晟吉 程伟国 |
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| 作者单位： | 南京旭上数控技术有限公司,江苏 南京211167;南京机电职业技术学院,江苏 南京211135;南京旭上数控技术有限公司,江苏 南京211167 |
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| 摘 要： | 在使用机器人的过程中,TCP标定是不可避免的环节之一,而且标定精度直接影响机器人的定位精度。传统的标定方法需要人工多次校准,效率低,精度差。针对此情况,提出一种基于超声波测距的TCP标定方法,利用超声波测距技术和坐标变换方法进行快速、准确地TCP值标定。该方法有效避免了人工校准带来的误差,通过实验证明该方法有效可行。
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| 关 键 词： | 机器人 TCP标定 超声波 精度 |
Research on TCP Calibration Method Based on Ultrasonic Ranging |
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| WU Leping,GU Shengji,CHENG Weiguo. Research on TCP Calibration Method Based on Ultrasonic Ranging[J]. Machine Building & Automation, 2021, 50(1): 209-210. DOI: 10.19344/j.cnki.issn1671-5276.2021.01.053 |
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| Authors: | WU Leping GU Shengji CHENG Weiguo |
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| Affiliation: | (Nanjing Xushang CNC Technology Co.,Ltd.,Nanjing 211167,China;Nanjing Vocational Institute of Mechatronic Technology,Nanjing 211135,China) |
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| Abstract: | In the process of manipulating robot,TCP calibration is one of the inevitable processes,whose accuracy directly affects the positioning accuracy of robot.The traditional calibration method requires manual calibrations for many times,which is low in efficiency and poor in accuracy.In this paper,a TCP calibration method based on ultrasonic ranging is proposed with proved experiments that show the new method can effectively eliminate the errors caused by manual calibration and greatly improve calibration efficiency and accuracy. |
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| Keywords: | robot TCP calibration ultrasound accuracy |
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