外文翻译--应用坐标测量机的机器人运动学姿态的标定原版.pdf

Int J Adv Manuf Technol (1993) 8:34-41 The International Journal of 9 1993 Springer-Verlag London Limited Rdvanced manufacturing Technoloou Full-Pose Calibration of a Robot Manipulator Using a Coordinate- Measuring Machine Morris R. Driels, Lt W. Swayze USN and Lt S. Potter USN Department of Mechanical Engineering, Naval Postgraduate School, Monterey, California, USA The work reported in this article addresses the kinematic 2. Experimental measurements of the robot pose (partial or calibration of a robot manipulator using a coordinate measuring complete) are taken in order to obtain data relating to the machine (CMM) which is able to obtain the full pose of actual parameter set for the robot. the end-effector. A kinematic model is developed for the 3. The actual kinematic parameters are identified by systemati- manipulator, its relationship to the world coordinate frame and cally changing the nominal parameter set so as to reduce the tool. The derivation of the tool pose from experimental the error quantity defined in the modelling phase. One measurements is discussed, as is the identification methodology. approach to achieving this ide