A Geometrical Work Piece Localization Algorithm for Rapid Robot Programming
文献类型：会议论文
| 作者 | Zhao, Hongzhen; Yang, Guilin; Zhang, Chengning; Chen, Chin-Yin |
| 出版日期 | 2016 |
| 会议日期 | JUL 12-15, 2016 |
| 关键词 | KINEMATIC CALIBRATION PRODUCT |
| 英文摘要 | When an offline programming method is employed for an industrial robot, accurate work piece localization is critical as there always exist discrepancies between the actual and nominal work piece locations. By drawing upon the mathematical tools from group theory and differential geometry, three fundamental error models (i.e., point-to-point, line-to-line, and plane-to-plane models) are formulated to describe the geometrical distances between two 3D models of the same work piece, which are obtained from the original CAD design and the in-situ measurement data, respectively. Consequently, the work piece localization becomes a 3D registration problem, i.e., to determine the optimal kinematic transformation between the two 3D models through minimizing their geometrical distances. Based on the proposed error models, a least-square algorithm is employed to iteratively identify the kinematic transformation parameters. Simulation results are provided to illustrate the effectiveness of the proposed algorithms. |
| 会议录出版者 | IEEE ASME International Conference on Advanced Intelligent Mechatronics |
| 学科主题 | Automation & Control Systems ; Computer Science ; Engineering ; Robotics |
| ISSN号 | 2159-6255 |
| ISBN号 | 978-1-5090-2065-2 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23440]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Zhao, Hongzhen,Yang, Guilin,Zhang, Chengning,et al. A Geometrical Work Piece Localization Algorithm for Rapid Robot Programming[C]. 见:. JUL 12-15, 2016. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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