朴永杰, 邱涛, 陈善本. 弧焊机器人TCF参数的标定[J]. 机器人, 2001, 23(2): 109-112.
引用本文: 朴永杰, 邱涛, 陈善本. 弧焊机器人TCF参数的标定[J]. 机器人, 2001, 23(2): 109-112.
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PIAO Yong jie, QIU Tao, CHEN Shan ben. CALIBRATION OF TCF PARAMETERS OF ARC WELDING ROBOT[J]. ROBOT, 2001, 23(2): 109-112.
Citation: PIAO Yong jie, QIU Tao, CHEN Shan ben. CALIBRATION OF TCF PARAMETERS OF ARC WELDING ROBOT[J]. ROBOT, 2001, 23(2): 109-112.
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弧焊机器人TCF参数的标定

CALIBRATION OF TCF PARAMETERS OF ARC WELDING ROBOT

    摘要
  • 摘要: 本文介绍了一种利用机器人正运动学方程和空间坐标变换关系来求解机器人的末端执行器参数的方法．通过应用于本实验室的九自由度弧焊机器人的操作机（6DOF）对此方法进行了验证，并给出了实验结果，而且分析了此标定方法的优点及不足之处．

     

    Abstract: This paper presents a method for calibrating the Tool/Terminal Control Frame (TCF) mounted on a manipulator. The robotic kinematic equations and the transformations between two coordinate frames were used in this method. This method was applied to our arc welding robot system(6DOF), and the data of the experiments were analyzed.

     

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