弧焊机器人工具参数标定

通过在末端安装不同的操作工具，可以利用机器人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末端的轨迹精度，因此研究一种准确、快速的工具参数TCF（Tool Control Frame)标定方法具有重要的意义，本文提出了一种标定工具参数的方法，该方法不仅可以标定工具参数的位置向量，还可以标定出姿态矩阵，利用该方法对本实验室的RHJD4-1弧焊机器人的工具参数进行了标定，标定结果表明，该方法是一种简便、可靠的机器人工具参数标定方法，并设计制造了标准工具参数标定杆，可保证在更换钨极或误动作导致碰撞载具的情况下，不需要重复执行工具参灵敏标定过程，就可以很方便，准确地实现工具校正，该方法也同样适用于其它类型机器人的工具参数标定。

Tool Control Frame Calibration for Arc Welding Robot

Robots could be used to do many things by fixing different tools on its end.Thus,the accuracy of the tool parameters has a direct influence on the trajectory accuracy of robot.It is important to develop a precise and quick method of calibrating the TCF (Tool Control Frame).In this paper,a TCF calibration method is presented based on measuring position of three points.Both position vector and orientation matrix of robot TCF can be calibrated simultaneously by means of the method.The method has been applied to RHJD4 1 arc welding robot in our laboratory.Results show that the method is simple and reliable.The calibrating bar for TCF calibration has been designed to ensure adjusting tool conveniently and exactly and avoid repeatedly calibrating process in some cases,such as replacing tungsten pole and colliding.This method can also be applied to tool parameters calibration for other robots.