Automatic calibration of robot tool center frame robot tool center frame

Tao LIU; Shi-bin YIN; Nan-nan ZHANG; Jin ZHAO

doi:10.3788/OPE.20192703.0661

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Automatic calibration of robot tool center frame robot tool center frame

Micro/Nano Technology and Fine Mechanics | 更新时间：2020-08-13

- Automatic calibration of robot tool center frame robot tool center frame
- Optics and Precision Engineering Vol. 27, Issue 3, Pages: 661-670(2019)
- 作者机构：
  
  天津大学精密测试技术及仪器国家重点实验室，天津 300072
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20192703.0661
  CLC： TP242
- Received：31 August 2018，
  
  Accepted：16 October 2018，
  
  Published：15 March 2019
- 稿件说明：
移动端阅览
Tao LIU, Shi-bin YIN, Nan-nan ZHANG, et al. Automatic calibration of robot tool center frame robot tool center frame[J]. Optics and precision engineering, 2019, 27(3): 661-670.
DOI：

Tao LIU, Shi-bin YIN, Nan-nan ZHANG, et al. Automatic calibration of robot tool center frame robot tool center frame[J]. Optics and precision engineering, 2019, 27(3): 661-670. DOI： 10.3788/OPE.20192703.0661.

摘要

为了实现工业现场中对机器人工具坐标系进行快速高效地校准，同时提升坐标系的校准精度，提出了一种机器人工具坐标系快速校准方法，搭建了校准系统和实验平台。对校准系统的校准测量速度和精度进行了测量和研究。该校准方法使机器人按照预定圆周和直线的轨迹进行运动，运动时统计该系统在光电传感器中出现的时刻，得到工具坐标系偏斜的位置。本文分析了光电传感器由于装配工艺的原因无法形成直角坐标系而引起的误差，同时根据坐标系转换原理，对此项误差进行分析。最后实验结果表明：机器人工具坐标系的校准精度为±0.5 mm，恢复时间为15 s。该结果满足汽车生产线对于精度和效率的要求，能够快速有效地对机器人工具坐标系进行校准。

Abstract

A calibration method for the robotic Tool Center Frame (TCF) was proposed

and a calibration sensor system and experimental platform are constructed in this study. The calibration speed and accuracy of the system were measured and studied. This calibration method involved robot movement along the trajectory of a predetermined circle and a straight line. The photoelectric calibration sensor records the time while the system was moving. The position of the deviation of the tool coordinate system was obtained. In this study the error caused by the photoelectric calibration sensor was analyzed

which may not achieve a rectangular coordinate system due to the cause of the assembly. Experimental results reveal the calibration accuracy of a robot tool coordinate system at ±0.5 mm

and a calibration and recovery time of 15 s. These values meet the requirements for accuracy and efficiency in vehicle production

indicating that our method is capable of calibrating the robot tool coordinate system quickly and effectively.

关键词

Keywords

references

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