激光跟踪仪与机器人坐标系转换方法研究

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英文篇名：Study on Coordinate Transformation Between a Laser Tracker and a Robot 作者：向民志 ; 范百兴 ; 李祥云 ; 隆昌宇 英文作者：XIANG Minzhi;FAN Baixing;LI Xiangyun;LONG Changyu;PLA Information Engineering University;Beijing Institute of Spacecraft Environment Engineering; 关键词：激光跟踪仪 ; 机器人坐标系 ; 罗德里格矩阵 ; 坐标转换 ; 定位误差 英文关键词：Laser tracker;;Robot coordinate system;;Rodrigue matrix;;Coordinates transformation;;Positioning error 中文刊名：HKGJ 英文刊名：Aeronautical Manufacturing Technology 机构：解放军信息工程大学;北京卫星环境工程研究所; 出版日期：2018-01-15 出版单位：航空制造技术 年：2018 期：v.61 基金：河南省科技攻关项目(152102210006;162102210029) 语种：中文; 页：HKGJ2018Z1020 页数：4 CN：Z1 ISSN：11-4387/V 分类号：92-95

摘要

为了快速准确求解激光跟踪仪与机器人坐标系转换参数,提出了一种基于工具标定与公共点转换相结合的坐标转换方法。首先,将靶球固定在机器人末端工具上,控制机器人示教6个不同位置,并同时用激光跟踪仪测量球心坐标;然后,采用基于距离约束的方法计算靶球在机器人基坐标系中的位置;最后,采用基于罗德里格矩阵的最小二乘迭代法进行坐标转换。试验表明:该方法操作简单,能够避免拟合误差的影响,提高坐标转换精度。
        In order to solve the conversion parameters of the laser tracker and the robot coordinate system quickly and accurately, a coordinate transformation method based on tool calibration and common point conversion is proposed. Firstly, the target ball was fixed on the robot end tool, the robot was taught to teach six different positions, and the center coordinates were measured by the laser tracker. Then, the position of the target ball in the robot coordinate system was calculated based on the distance constraint method; Finally, the least squares iteration based on Rodrigue matrix was adopted to coordinate transformation. The experimental results show that this method is simple and can avoid the influence of fitting error and improve the precision of coordinate transformation.

引文

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