激光三角法求取机器人末端工具姿态的方法研究

Abstract

在机器人应用中,当机器人夹持工具时会产生姿态误差,该误差会影响工具的精确定位。为了消除机器人夹持工具时产生的姿态误差问题,我们假设工具上有圆柱体部分,当激光条照射在该圆柱体上时,从激光条下方观察,圆柱表面的激光条为椭圆的一部分,不同姿态的圆柱会使其上的椭圆弧发生变化,利用拟合方法可以求出该弧所在的椭圆方程,最终根据该椭圆求得圆柱的姿态。实验结果表明,利用该方法求得的工具姿态误差平均为0.2°和0.1°,表明该方法具有较高的精度。

In the application of robot,the attitude error will be produce when robot hold the tool,it can affects the precise positioning of the tool.We need a simple and convenient way to get the tool's attitude in the robot end quickly,then comparison the tool and robot's attitude to get the error.Finally the robot will compensation the tool's attitude error,so the tool can move to the target precisely.In this paper we suppose that there is a cylindrical structure in the tool.The laser irradiation to the column,below the line laser we will find the laser on the face of column is a part of ellipse.Different attitude of column can form corresponding ellipse,the fitting method can calculated the elliptic equation of this arc,then we can get the column's attitude from the elliptic equation.The results show that the tool's average attitude error is 0.2 and 0.1 degree,this method has highl accuracy.