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针对目前机器人修形磨削系统中接触轮姿态标定精度低影响磨削精度的问题,提出了一种实验测量的工具坐标系标定方法,姿态标定精度达0.05°.首先总结了通用静态标定法的不足之处,提出了新标定方法的构思并且理论证明了该方法的正确性.介绍了实验系统的组成,并在机器人砂带磨削系统上做了磨削实验.采集了磨削处的实验数据,分析实验数据,获得接触轮的实际偏转角,把偏转角补偿到磨削路径的工具坐标系上,最后完成了工具坐标系补偿后的重复性实验,证明了该方法的可行性和准确性.
In order to solve the problem that the precision of the attitude calibration of the contact wheel is low, which affects the grinding accuracy, a calibration method of the tool coordinate system is proposed. The accuracy of the attitude calibration is 0.05 ° .At first, the general static calibration method Deficiencies, the concept of new calibration method is proposed and the correctness of the method is proved by the theory.The composition of the experimental system is introduced, and the grinding experiment is carried out on the robot belt grinding system.The experiment of grinding is collected Data, analyze the experimental data, the actual deflection angle of the contact wheel is obtained, the deflection angle is compensated to the tool coordinate system of the grinding path, and finally the repeatability experiment of the tool coordinate system is completed, which proves the feasibility and accuracy of the method Sex.