Calibrating workpiece position based on simulated annealing

Based on the analysis of practical workpiece position calibration,an algorithm for calibrating workpiece position based on simulated annealing was carried out for robot welding.By teaching 3 or more points that were far away from each other and not collinear as possible with the real robot,the position information was obtained implicitly.Then a simulated annealing algorithm was designed for calculating the transform matrix from the model to the real workpiece.It was a universal and precise algorithm.The max calculation error is under 0.02 mm max.To a certain extend,teaching error may affect the calibration result.Generally,the calibration error is under 0.5 mm,and under 0.9 mm in the extreme.If the calibration was performed before path planning,the program generated off-line could be downloaded directly to the robot controller.