基于激光跟踪仪的机器人误差测量系统标定

摘要

In order to measure the industrial robot's position error, the tool frame which is a position matrix that between the measuring point and the robot's ToolO and the base frame which is a pose matrix that between the robot's base and the measuring equipment are calibrated automatically by the methods of distance restriction and fractional steps according to the character of industrial robot's position error measuring system. The real industrial robot's position error measuring system is set up and the frames are calibrated based on the measuring datas. This is not only verified the calibration methods but also a foundation for measuring the robot's position error.%为了测量出工业机器人的定位误差,根据工业机器人定位误差测量系统的特点,采用基于距离约束的方法实现了了机器人Too10坐标系与测量靶标坐标系之间的位置矩阵(工具坐标系)的自动化标定过程,同时分步实现了机器人基坐标系与测量设备基坐标系之间的位姿矩阵(基坐标系)自动化标定过程;建立了基于激光跟踪仪的工业机器人定位误差测量系统,并根据测量数据具体标定出了涉及到的各个坐标系,验证了算法的有效性,为工业机器人定位误差的测量打下了基础.