一种改进的基于模拟退火的工件标定方法研究  

An Improved Calibration Method Based on Simulated Annealing Algorithm

作　　者：李立群[1] 孟正大[1] 

机构地区：[1]东南大学自动化学院,江苏南京210096

出　　处：《信息技术与信息化》2013年第6期117-120,124,共5页Information Technology and Informatization

基　　金：中国高技术研究发展"863"计划(2009A A043903);江苏省科技成果转化专项基金(BA200901)资助

摘　　要：工件标定作为机器人离线编程的核心技术被广泛的研究,传统的三点标定法对特征点的选取要求很高,而实际中很难满足要求,导致其精度并不是很高。本文提出一种基于模拟退火算法(SA)的改进标定方法,该方法以三点标定为基础,把三点标定的结果作为模拟退火算法的初始值,并最终得到目标函数最小,实现更高精度的工件标定。将该标定方法嵌入到MOTOMAN-UP20水切割机器人离线编程系统中,以此验证标定方法的可行性与正确性,并完成机器人水切割作业。As the core technology of off-line programming, workpiece calibration has been widely studied. The traditional three point calibration method requires a too high accuracy of feature points to be satisifed, which results in low calibration accuracy. In this paper an improved simulated annealing algorithm （SA） calibration method based on three point calibration is presented, which takes the result of three point calibration as the initial value of simulated annealing algorithm to minimize the objective function. Using this method, we realize higher accuracy calibration of the workpiece. Embedded this calibration method into the off-line programming system for MOTOMAN-UP20 Water-Jet Cutting Robot, veriifed the feasibility and validity of the calibration method and completed the cutting tasks.

关 键 词：控制理论与控制工程 工件标定 模拟退火 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]