Operation Object Calibration Algorithm Used for Robotic Off-line Programming

With the application and development of the off-line programming system (OLPS),as one of the key techniques for the applying of OLP technology, robot calibration technique is being paid more and more attentions. Aiming at the problem of OLPS application, this paper makes a further discussion on adjusting and matching operation object in off-line planning. According to the operation object modeling feature,the part calibration and path calibration algorithms are presented and analyzed in this paper. There are three part calibration methodologies and one path calibration methodology presented:the calibration of the orthogonal plane part,the four points calibration of the circular reference part, the three points calibration of the auxiliary feature points, and least square fitting path calibration. By combinating the part calibration with path calibration, the problem of adjusting and matching operation object can be solved completely in the application of robotic off-line programming.