用于机器人离线编程的作业标定算法

随着机器人焊接离线编程技术的应用与发展 ,机器人标定作为离线编程实用化的关键技术之一 ,得到越来越多的研究人员的重视。从离线编程系统实用化的角度出发 ,针对机器人离线规划时实现实际作业对象与离线仿真环境中的模型对象的调整与匹配问题进行了研究。并根据作业对象模型特征 ,分别通过工件标定和路径标定两种途径实现。详细进行了这两类标定算法的研究 ,提出了正交平面工件标定、圆形基准四点工件标定和辅助特征点三点标定三种工件标定方法和采用最小二乘拟合算法的路径标定算法。从而可以针对工件特点 ,比较全面地解决机器人离线编程系统应用过程中作业标定问题

Operation Object Calibration Algorithm Used for Robotic Off-line Programming

With the application and development of the off-line programming system (OLPS) ,as one of the key techniques for the applying of OLP technology, robot calibration technique is being paid more and more attentions. Aiming at the problem of OLPS application, this paper makes a further discussion on adjusting and matching operation object in off-line planning. According to the operation object modeling feature,the part calibration and path calibration algorithms are presented and analyzed in this paper. There are three part calibration methodologies and one path calibration methodology presented: the calibration of the orthogonal plane part ,the four points calibration of the circular reference part, the three points calibration of the auxiliary feature points, and least square fitting path calibration. By combinating the part calibration with path calibration, the problem of adjusting and matching operation object can be solved completely in the application of robotic off-line programming.