基于粒子群优化算法的工业机器人与外部轴标定

提出一种新的标定方法标定外部轴工作台与机器人工具间的坐标转换关系。该方法分为三步：首先，建立系统的数学模型，并根据模型标定机器人手腕与接触式距离传感器间的坐标转换关系，从而机器人和距离传感器组成机器人测量系统。然后，按预定程序移动检测目标，利用标定好的机器人测量系统测量并采集数据，初步标定出外部轴的转轴和俯仰两轴与机器人基础坐标系间的转换关系。最后，确定优化的目标函数，利用粒子群优化算法优化关键参数以提高系统的整体精度。试验结果验证了该标定方法的有效性。

Industrial Robot and External Axle Calibration Based on Particle Swarm Optimization

A novel calibrating approach is proposed to determine the transformation relationship between the robot tool coordinate and the external axle worktable coordinate. The whole approach is divided into three steps. Firstly, the geometric model of the system is established. After calibrating the transformation relationship between the robot wrist and the contact position sensor according to the geometric model, a robot measurement system is composed of the robot and the range sensor. Secondly, the detection tar...