Abstract: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.
ZOU Fangxing,FAN Baixing,CHEN Zhe et al. A Coordinate Conversion Method of Robot and Laser Tracker Combining Tool Coordinate System Calibration with Common Points[J]. jgg, 2024, 44(1): 46-51.