Transformation calibration method and system for mechanical arm coordinate system

The invention provides a transformation calibration method and system for a mechanical arm coordinate system. The transformation calibration method comprises the steps that S1, based on a tracking measurement device arranged in the working range of a target mechanical arm, the coordinate rotation tr...

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Main Authors ZHOU WEIHU, ZHANG ZILI, JI RONGYI, WANG YANQING, YUAN JIANG, WANG GUOMING, LAO DABAO, DONG DENGFENG, CHENG ZHI, ZHU ZHIZHONG, SHI JUNKAI, FAN BAIXING, YANG JUQING
Format Patent
LanguageChinese
English
Published 27.02.2018
Subjects
CALCULATING
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
COMPUTING
COUNTING
HAND TOOLS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MANIPULATORS
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
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Summary:The invention provides a transformation calibration method and system for a mechanical arm coordinate system. The transformation calibration method comprises the steps that S1, based on a tracking measurement device arranged in the working range of a target mechanical arm, the coordinate rotation transformation relation of a tail end tool coordinate system relative to a measurement reference coordinate system is obtained through a tail end coordinate system translational movement method; S2, the coordinate homogeneous transformation relation of the tail end tool coordinate system relative to amechanical arm base coordinate system is obtained through a single-axial rotation method based on the tail end tool coordinate system and kinematic transformation relative to the mechanical arm basecoordinate system; and S3, based on coordinates of selected calibration sampling points, the coordinate homogeneous transformation relation of the mechanical arm base coordinate system and the measurement reference coordinate
Bibliography:Application Number: CN20171743278