串联机器人标定系统的坐标系快速转换方法

doi:10.3901/JME.2020.14.001

机械工程学报 ›› 2020, Vol. 56 ›› Issue (14): 1-8.doi: 10.3901/JME.2020.14.001

• 仪器科学与技术 • 下一篇

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串联机器人标定系统的坐标系快速转换方法

乔贵方^1,2, 孙大林^1,3, 宋光明^1,3, 温秀兰², 韦中^1,3, 宋爱国^1,3

1. 东南大学仪器科学与工程学院南京 210096;
2. 南京工程学院自动化学院南京 211167;
3. 东南大学生物电子学国家重点实验室南京 210096

收稿日期:2019-09-18 修回日期:2020-03-26 出版日期:2020-07-20 发布日期:2020-08-12
通讯作者: 宋光明(通信作者),男,1974年出生,博士,教授。主要研究方向为分布式机器人与人机交互。E-mail:mikesong@seu.edu.cn
作者简介:乔贵方,男,1987年出生,博士,副教授。主要研究方向为机器人标定与机器人仿生控制。E-mail:qiaoguifang@126.com;孙大林,男,1995年出生。主要研究方向为工业机器人标定。E-mail:220173217@seu.edu.com
基金资助:
国家自然科学基金（51905258）、江苏省自然科学基金（BK20170763）、江苏省高校自然科学研究面上（16KJB460013）和中国博士后科学基金（2019M650095）资助项目。

A Rapid Coordinate Transformation Method for Serial Robot Calibration System

QIAO Guifang^1,2, SUN Dalin^1,3, SONG Guangming^1,3, WEN Xiulan², WEI Zhong^1,3, SONG Aiguo^1,3

1. School of Instrument Science and Engineering, Southeast University, Nanjing 210096;
2. School of Automation, Nanjing Institute of Technology, Nanjing 211167;
3. State Key Laboratory of Bioelectronics, Southeast University, Nanjing 210096

Received:2019-09-18 Revised:2020-03-26 Online:2020-07-20 Published:2020-08-12

摘要/Abstract

摘要： 针对串联机器人标定系统中的工业机器人基座标系{B}与激光跟踪仪测量坐标系{T}的转换问题，提出一种融合多点拟合法和轴线矢量测量法的坐标系快速转换方法。该融合坐标系快速转换方法首先利用轴线矢量测量法获得旋转矩阵R，然后利用多点拟合法获得位移矢量T，进而得到坐标系转换矩阵_B^TR。试验结果表明该融合坐标系快速转换方法的测量时间比多点拟合方法减少了184.68 s，但综合RMSE（Root mean squared error，RMSE）增加了0.215 mm；相比于基于关节圆交点的坐标系转换方法，该方法的综合RMSE降低了0.626 mm，测量时间仅增加了51.26 s；相比于基于平面拟合转换法，该方法的综合RMSE与测量时间分别降低了2.790 mm和120.0 s。因此，该融合坐标系快速转换方法的转换精度远优于基于轴线测量的坐标系转换方法，相比于多点拟合法具有相近的转换精度和更好的测量效率。

关键词: 机器人标定, 轴线矢量测量, 基坐标系, 测量坐标系, 激光跟踪仪

Abstract: To solve the problem of coordinate transformation between the industrial robot base coordinate {B} and the laser tracker measurement coordinate {T} in the serial robot calibration system, a rapid coordinate transformation method combining multi-point fitting method and screw axis measurement method is proposed. Firstly, the rotation matrix R is obtained by screw axis measurement method, and the displacement vector T is obtained by multi-point fitting method. The transformation matrix _B^TR is calculated based on the rotation matrix R and the displacement vector T. The experimental results show that the measurement time of this method is 184.68 s less than that of the multi-point fitting method. The comprehensive (Root mean squared error, RMSE) is increased by 0.215 mm. Compared with the joint circle intersection based method, the comprehensive RMSE of this method is reduced by 0.626 mm. However, the measurement time is just increased by 51.26 s. Compared with the base plane fitting method, the comprehensive RMSE and the measurement time of this method are reduced by 2.790 mm and 120.0 s, respectively. Therefore, the accuracy of the proposed rapid coordinate transformation method is much better than that of the screw axis measurement method. Compared with the multi-point fitting method, the proposed method has similar accuracy and better measurement efficiency.

Key words: robot calibration, screw axis measurement, base coordinate, measurement coordinate, laser tracker

中图分类号:

TP391

乔贵方, 孙大林, 宋光明, 温秀兰, 韦中, 宋爱国. 串联机器人标定系统的坐标系快速转换方法[J]. 机械工程学报, 2020, 56(14): 1-8.

QIAO Guifang, SUN Dalin, SONG Guangming, WEN Xiulan, WEI Zhong, SONG Aiguo. A Rapid Coordinate Transformation Method for Serial Robot Calibration System[J]. Journal of Mechanical Engineering, 2020, 56(14): 1-8.

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串联机器人标定系统的坐标系快速转换方法

A Rapid Coordinate Transformation Method for Serial Robot Calibration System

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