一种工具坐标系标定与公共点结合的机器人与激光跟踪仪坐标转换方法  

A Coordinate Conversion Method of Robot and Laser Tracker Combining Tool Coordinate System Calibration with Common Points

作　　者：邹方星 范百兴[1] 陈哲[1] 段童虎 黄赫 ZOU Fangxing;FAN Baixing;CHEN Zhe;DUAN Tonghu;HUANG He(School of Surveying and Mapping,Information Engineering University,62 Kexue Road,Zhengzhou 450001,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州市450001

出　　处：《大地测量与地球动力学》2024年第1期46-51,62,共7页Journal of Geodesy and Geodynamics

摘　　要：机器人标定需要实现测量坐标系与机器人坐标系的配准关联,得到两者之间的转换关系。为克服传统基于轴线矢量坐标系转换方法操作复杂、拟合精度不高等缺点,提出一种工具坐标系标定与公共点转换相结合的解算方法。首先基于距离约束标定出光学靶标球中心相对于末端法兰坐标系的位置参数,而后通过重心化配置降低测量误差对坐标转换的影响,最后基于公共点转换采用三维七参数模型求解坐标转换齐次矩阵。实验结果表明,相比于基于轴线矢量坐标系转换的传统拟合方法,该方法的点位综合MAE减小35.44%,坐标转换精度更高,且操作方法简单,适合工业现场使用。Robot calibration needs to realize the registration correlation between the measuring coordinate system and the robot coordinate system,and get the conversion relationship between them.In order to overcome the shortcomings of traditional axis vector coordinate system conversion method,which is complex in operation and low in fitting accuracy,this paper proposes a solution method which combines tool coordinate system calibration and common point conversion.Firstly,based on the distance constraint,we calibrate the position parameters of the optical target ball center relative to the end flange coordinate system.Then,the influence of measurement error on coordinate transformation is reduced by the barycentric configuration.Finally,we use the three-dimensional seven-parameter model to solve the homogeneous matrix of coordinate transformation based on the common point transformation.The experimental results show that the comprehensive MAE error of this method is reduced by 35.44%,compared with the traditional fitting method.This method is simple and has higher coordinate conversion accuracy,which is suitable for industrial field use.

关 键 词：工业机器人 激光跟踪仪 公共点转换 距离约束 坐标系转换 

分 类 号：P243[天文地球—测绘科学与技术]