【摘要】 机器人末端工具的工具中心点(TCP)坐标参数是机器人离线编程的基础。首先，提出一种基于可浮动标准球体的机器人TCP标定方法，以已知半径的可浮动标准球体为标定目标，控制机器人各关节的运动，TCP从多个不同姿态接触球体表面，根据接触状态信息及球体下降高度，构建目标函数，针对球面接触点位置分析，提出接触点选取的准则；然后，通过设计双目视觉系统，识别定位球心坐标，确定自适应邻域模式的粒子群算法所需的参数范围，完成目标函数的优化求解，获得TCP参数，提出结合视觉定位功能引导TCP至规划点的在线标定策略；最后，对提出的方法进行实验验证。验证结果表明：相较于传统接触式标定方法，所提出的标定方法精度有很大提高，可靠性也得到了进一步保证。更多还原

【Abstract】 The tool center point(TCP) coordinate parameter of the robot end tool is the basis of robot off-line programming. In this paper, a robot TCP calibration method based on floating standard sphere is proposed, which takes a floating standard sphere with a known radius as the calibration target. By controlling the motion of the robot joints, TCP touches the surface of the sphere from several different postures. According to the contact state information and the falling height of the sphere, the objective function is constructed, and the criterion for selecting the contact point is put forward according to the analysis of the positions of the spherical contact points. By designing a binocular vision system, the coordinates of the positioning center is identified and the parameter range required by the particle swarm optimization algorithm of adaptive neighborhood mode is determined.Then the optimization solution of the objective function is completed and the TCP parameters is obtained. The strategy of online calibration of TCP to the planning point combined with the visual positioning function is put forward. Finally, the proposed method is verified on the experiments. The verification results show that the accuracy of the proposed calibration method is much higher than that of the traditional contact calibration method, and the reliability is further guaranteed.更多还原