机器人末端执行器的移动和旋转是基于工具中心点.精确的工具参数可以提高离线编程能力,使工具容易的改变位置与姿态,快速的对齐到加工平面.文中提出了一种快捷、有效的工具参数的标定方法.只需要示教特殊姿态,通过数学计算就可以获取包含x,y,z,Tx,Ty,Tz参数的工具齐次变换矩阵,描述了法兰坐标系到工具坐标系的偏移和旋转.该方法不需要外部测量工具,精简了操作步骤,实验证明是切实有效的标定方法.%The movement and rotation of robot end-effector is based on the center point of tool. Accurate tool parameters can improve the capability of off-line programming and make the tool easier to change position and orientation, and align to the processing plane quickly. This paper put forward a fast and effective calibration method for the tool coordinate frame. Only need to teach four points, it got a homogeneous transformation matrix which includes an x,y,z,rx,ry,rz parameter through the mathematical calculation, and described the translation and rotation from flange coordinate frame to tool coordinate frame. This method does not need external measuring tool, and can simplify operating procedures, The experiment has proved to be a feasible and practical calibration method.
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