Study on Coordinate Transformation Between a Laser Tracker and a Robot

XIANG Minzhi; FAN Baixing; LI Xiangyun; LONG Changyu

doi:10.16080/j.issn1671-833x.2018.01/02.098

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Study on Coordinate Transformation Between a Laser Tracker and a Robot

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- Study on Coordinate Transformation Between a Laser Tracker and a Robot
- Aeronautical Manufacturing Technology Vol. 61, Issue 1/2, (2018)
- 作者机构：
  
  1. 解放军信息工程大学,郑州,450001
  2. 北京卫星环境工程研究所,北京,100094
- 作者简介：
- 基金信息：
- DOI：10.16080/j.issn1671-833x.2018.01/02.098
  CLC：
- Published：2018
- 稿件说明：
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向民志，范百兴，李祥云，隆昌宇. 激光跟踪仪与机器人坐标系转换方法研究[J]. 航空制造技术, 2018, 61(1/2): 98-101. XIANG Minzhi, FAN Baixing, LI Xiangyun, LONG Changyu. Study on Coordinate Transformation Between a Laser Tracker and a Robot[J]. Aeronautical Manufacturing Technology, 2018, 61(1/2): 98-101.

XIANG Minzhi, FAN Baixing, LI Xiangyun, et al. Study on Coordinate Transformation Between a Laser Tracker and a Robot[J]. Aeronautical Manufacturing Technology, 2018, 61(1/2).
向民志，范百兴，李祥云，隆昌宇. 激光跟踪仪与机器人坐标系转换方法研究[J]. 航空制造技术, 2018, 61(1/2): 98-101. XIANG Minzhi, FAN Baixing, LI Xiangyun, LONG Changyu. Study on Coordinate Transformation Between a Laser Tracker and a Robot[J]. Aeronautical Manufacturing Technology, 2018, 61(1/2): 98-101. DOI： 10.16080/j.issn1671-833x.2018.01/02.098.

XIANG Minzhi, FAN Baixing, LI Xiangyun, et al. Study on Coordinate Transformation Between a Laser Tracker and a Robot[J]. Aeronautical Manufacturing Technology, 2018, 61(1/2). DOI： 10.16080/j.issn1671-833x.2018.01/02.098.

摘要

为了快速准确求解激光跟踪仪与机器人坐标系转换参数，提出了一种基于工具标定与公共点转换相结合的坐标转换方法。首先，将靶球固定在机器人末端工具上，控制机器人示教6 个不同位置，并同时用激光跟踪仪测量球心坐标；然后，采用基于距离约束的方法计算靶球在机器人基坐标系中的位置；最后，采用基于罗德里格矩阵的最小二乘迭代法进行坐标转换。试验表明：该方法操作简单，能够避免拟合误差的影响，提高坐标转换精度。

Abstract

In order to solve the conversion parameters of the laser tracker and the robot coordinate system quickly and accurately

a coordinate transformation method based on tool calibration and common point conversion is proposed. Firstly

the target ball was fixed on the robot end tool

the robot was taught to teach six different positions

and the center coordinates were measured by the laser tracker. Then

the position of the target ball in the robot coordinate system was calculated based on the distance constraint method; Finally

the least squares iteration based on Rodrigue matrix was adopted to coordinate transformation. The experimental results show that this method is simple and can avoid the influence of fitting error and improve the precision of coordinate transformation.

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