关键词: 机器人运动学, 机器人建模, 工具坐标系标定, 运动学分析

Abstract:

        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 feasible and can be applied to practical environments to reduce the offline time and improve the level of automation.

Key words: robot kinematics, robot modeling, tool frame calibration, kinematical analysis