基于球面拟合法的机器人与变位机位姿关系标定  

Calibration of relative position and orientation between robot and positioner based on spheres fitting method

作　　者：朱晓鹏[1] 张轲[1] 涂志强[1] 黄洁[1] 

机构地区：[1]上海交通大学上海市激光制造与材料改性重点实验室,上海200240

出　　处：《焊接学报》2013年第1期41-44,115,共4页Transactions of The China Welding Institution

基　　金：国家自然科学基金资助项目(50605044);国家科技部资助项目(2009DFB50350)

摘　　要：提出基于最小二乘法的球面拟合法来标定机器人与变位机的位姿关系.首先变位机分别旋转或倾斜到多个位置,记录TCP点在对应位置的位姿数据并建立球面方程,采用最小二乘法拟合最优球面,从而求得变位机坐标系原点.然后采用同样的方法,让TCP点在变位机两个轴向作多点标记,可进一步求得坐标系各轴的方向矢量,实现位姿关系标定.为消除偶然因素的影响,提出了距离偏差率概念并设定取点阈值判定方法,提高了标定精度.结果表明,该方法可以有效减小随机误差,避免偶然因素的影响,具有较高的标定精度.A method to calibrate the relative position and orientation between robot and positioner was presented by fitting sphere based on the least square method.Firstly,the positioner rotates or tilts to different positions,and the position data of TCP were recorded in the same time.The optimal sphere was fitted by the least square method,and the origin of base coordinate frame of the positioner was calculated.Secondly,several points were recorded in the same way to calculate the vectors of axis.In order to avoid the effects of causal factors,the concept of deviation rate was presented to verify the accuracy of the marked points.Experiments show that this method can reduce the random error and avoid the effects of causal factors,which has high precision.

关 键 词：机器人 激光熔覆 位姿关系标定 球面拟合法 最小二乘法 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]