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HOU Yangqiang, WANG Tianqi, LI Liangyu, YUE Jianfeng, Liu Xiaohui. Study of calibration algorithm based on dual-robot coordinate welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2017, 38(2): 92-96.
Citation: HOU Yangqiang, WANG Tianqi, LI Liangyu, YUE Jianfeng, Liu Xiaohui. Study of calibration algorithm based on dual-robot coordinate welding[J]. TRANSACTIONS OF THE CHINA WELDING INSTITUTION, 2017, 38(2): 92-96.
shu

Study of calibration algorithm based on dual-robot coordinate welding

  • 1.

    Advanced Mechatronics Equipment Technology Tianjin Area Laboratory, Tianjin Polytechnic University, Tianjin 300387, China

  • 2.

    The Car Kits of Armed Police Unit 8650, Jinzhong 030600, China

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  • Received Date: August 08, 2016
    Graphical Abstract
    • Abstract
  • The calibration method of TCF and base frame of dual-robot were studied based on the task of dual-robot coordinate welding. A calibration algorithm was proposed by using quaternion to represent the coordinates of the position and orientation, so was the base calibration system calibration project of dual-robot on the basis of the method of"three point and two-steps based on the public target". The TCF calibration calculation was simplified because of the transformational relation between rotation matrix and quaternion which was inferred according to the theory of vector rotation. Two initial rotation matrix differential value of F-norm obtained by calibration was served as optimized objective function, the precise value of calibration was obtained by using Lagrange multiplier method. At last, the tests of TCF and dual-robot calibration were implemented by the calibration strategy mentioned above. Experimental results showed that the accuracy of calibration was improved and the error of calibration was decreased effectively.
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    • References (5)
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    张文增, 陈 强, 孙振国, 等. 弧焊机器人工件坐标系快速标定方法[J]. 焊接学报, 2005, 26(7):1-4. Zhang Wenzeng, Chen Qiang, Sun Zhenguo, et al. Quick calibration method of part coordinates for arc welding robot[J]. Transactions of the China Welding Institution, 2005, 26(7):1-4.
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