摘要： 研究了缺损零件的机器人快速再制造系统中，当机械手夹持扫描仪扫描固定的零件时，通过采用测量空间虚拟固定点的方法进行扫描仪外部标定算法的实现，即标定扫描仪的坐标系与机器人末端坐标系(即Tool0)间的旋转(即Rx, Ry, Rz)和平移(即X，Y，Z)关系，并给出了基本算法原理和求解方法、数据采集过程以及实验结果分析等内容。

关键词: 扫描仪, 标定, 算法, 再制造

Abstract: This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the robot remanufacture system. The method of calibrating the relationship between the scanner coordinate and the robot Tool0, such as the rotation R x, R y, R z and the transformation X, Y, Z is studied. The data of Tool0 can be directly obtained from its relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. The paper explains the basic algorithm theory, computing method, data collecting process, the result data analysis, and etc.. The calibration algorithm is deduced under the orthogonal coordinate.

Key words: Scanner, Calibration, Algorithm, Remanufacture

中图分类号: 

• TB472.39