LW-1型机器人重复位姿精度检测系统

本文介绍了一种非接触式（ＬＷ－１型）机器人重复位姿精度检测系统．该系统采用电涡流传感器作为位置信息传感器．以这种传感器的检测性能为基础，研究设计了相应的传感器测量结构、数学模型和坐标变换求解方法，使系统技术指标及使用性能达到了检测机器人重复位姿精度的实用要求．该系统具有鲁棒性强、设计合理、结构简单、造价低廉等特点，可以满足我国现阶段在机器人学研究和机器人开发应用方面的需求

Pose repeatability of robot is very important for robotics research and development. In this paper, a non  contact measurement system (LW  1) for the pose repeatability of robot is presented. Its sensor device consists of six eddy  current sensors and a cubic target which can be mounted on the wrist of an industrial robot. A special mathematical method, the vector properties and screw theory are used to determine the transformation matrix between the sensor and target frame, and to enhance the robustness of the solution. As last, the structure of the sensor device is described and some test results are illustrated. The system(LW  1)is simple in structure and low in cost, and  has given a measurement accuracy of≤±5μm in displacement and of≤±16″ in angles on a static test.

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