| 3 Points Calibration Method of Part Coordinates for Arc Welding Robot | |
| Zhang, Wenzeng ; Ma, Xiande ; Cui, Leqin ; Chen, Qiang | |
| 2010-05-10 ; 2010-05-10 ; OCT 15-17, 2008 | |
| 会议名称 | INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS ; 1st International Conference Intelligent Robotics and Applications ; Wuhan, PEOPLES R CHINA ; Web of Science ; INSPEC |
| 关键词 | industrial robot part coordinate system calibration offline programming Computer Science, Artificial Intelligence |
| 中文摘要 | The part coordinates are always calibrated before the welding robot carries out some tasks. Traditional methods are using expensive and complicated devices for measuring. A novel method for quick calibration is presented based on a 3 points operation, which only uses the internal encoder data of robot and coordinates transform calculation to get the coordinates transform matrix between the part coordinate system and the basic coordinate system of robot. It is convenient to operate and its calibration result is precise. The method is imbedded in the sell-developed offline programming software for MOTOMAN SK6 arc-welding robot. Robot writing is realized based on the algorithm and offline programming. Experimental results show the validity of the calibration method. |
| 会议录出版者 | SPRINGER-VERLAG BERLIN ; BERLIN ; HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY |
| 语种 | 英语 ; 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://hdl.handle.net/123456789/19003]  |
| 专题 | 清华大学 |
| 推荐引用方式 GB/T 7714 | Zhang, Wenzeng,Ma, Xiande,Cui, Leqin,et al. 3 Points Calibration Method of Part Coordinates for Arc Welding Robot[C]. 见:INTELLIGENT ROBOTICS AND APPLICATIONS, PT I, PROCEEDINGS, 1st International Conference Intelligent Robotics and Applications, Wuhan, PEOPLES R CHINA, Web of Science, INSPEC. |
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