| 弧焊机器人工件坐标系快速标定方法 |
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| 引用本文： | 张文增,陈强,孙振国,汤晓华.弧焊机器人工件坐标系快速标定方法[J].焊接学报,2005,26(7):1-4. |
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| 作者姓名： | 张文增 陈强 孙振国 汤晓华 |
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| 作者单位： | 清华大学,机械工程系,北京,100084 |
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| 基金项目： | 国家自然科学基金资助项目(50275083)，高校博士点基金资助项目(20020003053) |
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| 摘 要： | 机器人执行操作任务之前需要进行工件坐标系的标定，传统方法是使用昂贵且复杂的测量设备进行。提出一种新的快速标定工件坐标系的方法，该方法无需额外测量设备，仅采用机器人内部编码器数据和坐标变换计算来求取机器人工件坐标系相对于基坐标系的齐次坐标变换矩阵，且操作方便，标定精度高。针对MOTOMAN SK6弧焊机器人，将该标定方法嵌入了自行开发的离线编程软件中。以此算法和离线编程为基础，完成了机器人写字。试验结果验证了标定算法的有效性。
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| 关 键 词： | 机器人 工件坐标系 标定 离线编程 |
| 文章编号： | 0253-360X(2005)07-01-04 |
| 收稿时间： | 2004/8/31 0:00:00 |
| 修稿时间： | 2004年8月31日 |
Quick calibration method of part coordinates for arc welding robot |
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| ZHANG Wen-zeng,CHEN Qiang,SUN Zhen-guo and TANG Xiao-hua.Quick calibration method of part coordinates for arc welding robot[J].Transactions of The China Welding Institution,2005,26(7):1-4. |
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| Authors: | ZHANG Wen-zeng CHEN Qiang SUN Zhen-guo and TANG Xiao-hua |
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| Affiliation: | Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China,Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China,Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China and Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China |
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| Abstract: | The part coordinates are always calibrated before the arc welding robot carries out some tasks. Traditional methods use expensive and complicated devices for measuring. A novel method to quickly calibrate the part coordinates was presented, using only the internal coder data of robot and coordinates transform calculation to get the coordinates transform matrix between the part frame and the basic frame of robot. It was easy to operate and its calibration result was precise. The method was imbedded in the self-developed off-line programming software for MOTOMAN SK6 arc welding robot. Based on the algorithm and off-line programming, robot writing was realized. Experimental results showed the validity of the calibration method. |
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| Keywords: | robot part frame calibration off-line programming |
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