摘要
针对机器人离线编程技术应用过程中工件标定问题进行了研究,并利用工件标定实质,通过确定仿真环境中工件坐标系到实际环境中工件坐标系之间的转换矩阵实现工件调整与匹配.在此基础上,针对工件特点进行了标定算法的详细研究,提出正交平面工件标定、圆形基准四点工件标定和辅助特征点三点三种工件标定方法,从而比较全面地解决机器人离线编程技术应用过程中的工件标定问题.
With the application and development of off-line programming system (OLPS), as one of the key techniques for the application of OLP technology, the robot calibration technique is drawing more and more attention. Aiming at part calibration for the application of robotic off-line programming, the part calibration algorithm is further discussed for the adjustment and matching of part models by transformation matrix between part coordinates in the simulation environments and real workspace. Three part calibration methodologies, calibration of orthogonal plane part, four-point calibration of circular reference part, and three-point calibration of auxiliary feature points, are presented. Part calibration can be done by using the algorithm proposed only.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2002年第6期735-738,共4页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(59635160).
关键词
算法
机器人
工件标定
离线编程
Mathematical transformations
Matrix algebra
Programming theory
Simulation
