基于空间几何测量的机器人坐标系转化方法  

Transformation Method of Robot Coordinate System Based on Polyworks

作　　者：陈刚 尹宏杰 厉志飞[1] CHEN Gang;YI Hongjie;LI Zhifei

机构地区：[1]杭州市质量技术监督检测院

出　　处：《计量与测试技术》2022年第3期60-64,共5页Metrology & Measurement Technique

摘　　要：对工业机器人进行标定需要使用激光跟踪仪进行末端点位数据测量,通过测量靶球中心的坐标值,必须考虑机器人末端与法兰盘坐标系转化以及机器人基座标系与激光跟踪仪测量坐标系之间的转化使标定才有意义。针对目前对机器人坐标系转化方法存在操作繁琐、过程缓慢、转化误差较大、实用性不强等缺点,提出一种基于空间几何测量原理,结合机器人几何机构尺寸计算,进行坐标系转化的实用方法。在通过激光跟踪仪RPM软件建立工具坐标系,得出机器人末端与法兰盘偏置量的基础上,再通过机器人几何尺寸计算出基座标系原点坐标,并以此在Polyworks中创建与测量坐标系三轴方向相同的基座标系,最后通过机器人正向运动学求解末端位置与机器人示教器下的读数对比,验证了该坐标系转化方法在SR4C型机器人上的准确性和有效性。To calibrate the industrial robot, It is necessary to measure the end point data by laser tracker.The transformation between the end of the robot and the flange coordinate system as well as the transformation between the coordinate system of the base of the robot and the measurement coordinate system of the laser tracker must be considered in measuring the coordinate value of the target ball center to make the calibration meaningful.Aiming at the disadvantages of the robot coordinate system transformation method, such as cumbersome operation, slow process, large conversion error and weak practicability, this paper proposes a practical coordinate system transformation method based on space geometry survey combined with the calculation of the robot geometric mechanism size.Based on building tool coordinate system Through laser tracker RPM software and concluding the offset between the end of robot and flange, on the basis of geometry size calculated by robot base coordinate system origin of coordinates, thereby create base coordinate system same as three axis direction of measurement coordinate system in the Polyworks.at last, The accuracy and effectiveness of the coordinate transformation method on the robot of SR4 C are verified by the contrast between the end position calculated by the forward kinematics of the robot and the reading under the robot indicator.

关 键 词：SR4C型机器人 Polyworks测量软件 坐标系转化 正向运动学 

分 类 号：TG156[金属学及工艺—热处理]