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针对机器人视觉在线测量中机器人发生碰撞事故后如何快速恢复测量的问题,提出2种简单易行的机器人工具中心点(TCP)现场快速修复方法.若现场发生机器人碰撞事故,只需控制机器人做几次测量即可重新校准工具坐标系,实现机器人TCP的快速准确修复,有效避免了重新示教机器人测量轨迹等复杂劳动.本文首先根据视觉传感器光平面结构参数定义了机器人工具坐标系及机器人TCP.然后提出基于基准球的工具坐标系校准法和基于公共点偏差的工具坐标系校准法.模拟实验表明,2种方法都可以实现机器人工具坐标系及TCP的快速修复,能满足机器人柔性视觉检测系统中现场机器人发生碰撞事故后快速恢复生产测量的应用需求.
Aiming at the problem of how to quickly restore the measurement after robot collision in on-line measurement of robot vision, two simple repairing methods of robot tool center point (TCP) are proposed in this paper.If there is a robot collision accident in the scene, Time measurement to re-calibrate the tool coordinate system, to achieve rapid and accurate robot TCP repair, to effectively avoid re-teaching robot measurement trajectory and other complex work.This paper first defined the robot tool coordinate system and robot TCP according to the structural parameters of the vision sensor light plane. Then a calibration method of tool coordinate system based on reference sphere and a tool coordinate system calibration method based on common point deviation are proposed.The simulation results show that the two methods can be used to quickly repair robot tool coordinate system and TCP and satisfy robot flexible vision inspection system In the scene of the robot after a collision accident quickly resume production measurement application requirements.