吴聊, 杨向东, 蓝善清, 陈恳. 基于平面模板的机器人TCF标定[J]. 机器人, 2012, 34(1): 98-103..
WU Liao, YANG Xiangdong, LAN Shanqing, CHEN Ken. Robotic TCF Calibration Based on a Planar Template. ROBOT, 2012, 34(1): 98-103..
摘要针对末端夹持激光位移传感器的机器人TCF（tool/terminal control frame）标定，提出一种基于平面模扳的标定方法，机器人操作末端执行器使激光位移传感器在不同位形下对平面模板进行测量，再通过非线性最小．乘拟合求解标定参数．为了减小问题的奇异性，对标定时应该采取的参数控制策略进行了定性分析．该标定方法只需要一块表面精度较高的平面模板，而无需其它测量仪器，标定过程简单、易操作，且易于实现自动己．仿真和实验结果表明本文提出的标定方法具有较高的精度．
Abstract：For the TCF(tool/terminal control frame) calibration of a robot holding a LDS(laser displacement sensor),a method based on a planar template is proposed.The robot is required to operate its end-effector so that the LDS measures the planar template at different configurations.Then the calibration parameters are solved by nonlinear least square fitting.To reduce the singularity of the problem,the parameter-control strategy during the calibration is qualitatively analyzed.Except for a planar template with high surface accuracy,no extra measurement equipments are needed.The calibration process is simple and easy for operation and automatization.Simulation and experiment results show that the method presented in this paper has high accuracy.
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