基于平板标定工具的机器人工具中心点标定方法

为在工业现场便捷、准确地获取工具中心点（tool center point，TCP）参数，降低机器人末端工具的定位误差，提出了一种基于平板标定工具的机器人TCP标定方法. 利用机器人TCP与平板多次触碰所形成的空间触点应共面的约束条件，建立了机器人TCP参数标定模型；针对TCP名义参数未知和已知的情况，分别提出了基于粒子群算法的TCP直接求解和线性化的偏差求解算法. 通过数值仿真和标定试验验证所提出方法的可行性和准确性，结果表明:TCP直接求解和偏差求解算法求解的结果与传统四点标定法相比，误差分别在0.5 mm和1.0 mm以内. 

Method of Using Flat Plate as Calibration Tool for Robot Tool Center Point Calibration

To obtain the tool center point (TCP) parameters readily and accurately in the industrial field and reduce the positioning error of robot end tools, a robot TCP calibration method utilizing a flat plate as calibration tool is proposed. The robot TCP parameter calibration model is established under the constraint that the space contact points between the robot TCP and the flat should be coplanar. In the cases of unknown and known TCP nominal parameters, based on the particle swarm optimization (PSO) algorithm, the direct solution and linearization deviation solution algorithms for TCP are put forward respectively. The feasibility and accuracy of the proposed methods are verified by numerical simulation and calibration experiment. Compared with the traditional four-point calibration method, the error of TCP direct solution and deviation solution algorithm is less than 0.5 mm and 1.0 mm, respectively. The calibration method proposed is simple and easy to implement, and possesses high calibration efficiency and precision.