CAJ | 학술논문

提出了一种算法简便、切实有效的机器人工具坐标系标定方法。该方法基于机器人的运动学推导过程，在没有借助额外的测量工具的条件下，对工具坐标系相对于机器人末端坐标系的位置进行辨识，在得到工具坐标系相对位置的基础上，对机器人的工具端的姿态进行辨识。本方法仅采用了线性最小二乘算法，算法简便容易实现。最后使用MATLAB和VirtualRobotSimulator对本文所提算法进行了仿真实验，结果证明该方法切实可行，完全可以应用到实际的工作环境中，缩减离线工作时间，提高自动化水平。
제출료일충산법간편、절실유효적궤기인공구좌표계표정방법。해방법기우궤기인적운동학추도과정，재몰유차조액외적측량공구적조건하，대공구좌표계상대우궤기인말단좌표계적위치진행변식，재득도공구좌표계상대위치적기출상，대궤기인적공구단적자태진행변식。본방법부채용료선성최소이승산법，산법간편용역실현。최후사용MATLAB화VirtualRobotSimulator대본문소제산법진행료방진실험，결과증명해방법절실가행，완전가이응용도실제적공작배경중，축감리선공작시간，제고자동화수평。
We present a simple and effective calibration method for robot tool frame calibration. This method is based on the kinematic computation of a stacking robot, and recognizes the relative position of the tool frame to the end of the robot without the aid of extra measurement equipment. The method then recognizes the orientation of the robot tool frame based on the derived relative position. This method only employs the linear least square algorithm, so it is easy to be realized. We employ MATLAB and Virtual Robot Simulator to simulate the proposed method. Results show that the method is feasi- ble and can be applied to practical environments to reduce the off-line time and improve the level of automation.