• CN: 11-2187/TH
  • ISSN: 0577-6686

Journal of Mechanical Engineering ›› 2020, Vol. 56 ›› Issue (14): 1-8.doi: 10.3901/JME.2020.14.001

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A Rapid Coordinate Transformation Method for Serial Robot Calibration System

QIAO Guifang1,2, SUN Dalin1,3, SONG Guangming1,3, WEN Xiulan2, WEI Zhong1,3, SONG Aiguo1,3   

  1. 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

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 BTR 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

CLC Number: