Arc welding robot calibration

摘要

Introduces the methods of seven points to calibrate tool coordinate frame and three points to calibrate coordinate frame of work-piece.And both of them are designed during developing Kunshan-1 Robot.These two methods accomplish the calibrations of tool coordinate frame and coordinate frame of work-piece.The calibration of tool coordinate frame is to deduce the homogeneous transfer matrix of tool coordinate frame relative to robot terminal coordinate frame.And the calibration of coordinate frame of work-piece is to deduce the homogeneous transfer matrix of coordinate frame of work-piece relative to base coordinate frame of robot.The robot location error get to ±0.5mm after the calibrations.The practical tests show these calibrations are credible,convenient and high-accurate system calibration methods which satisfy the needs of the practical machining.