A Conversion Method Between Arm Coordinate System and Laser Coordinate System for Demolition Robot
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摘要: 根据两空间直角坐标系的转换原理,简化拆除机器人坐标系与激光器坐标系的转换模型,依据简化的模型提出一种基于空间向量法的空间两直角坐标系转换方法。对激光器坐标系进行安装标定实验,通过保持两坐标系对应轴的水平限制X,Y轴的坐标旋转,通过调整激光测距仪的安装角度限制激光器坐标系绕Z轴的旋转,保证两坐标系对应轴之间相互平行。建立两坐标系转换精度测量的实验模型,依据所测数据,计算出液压锤锤尖点G1和打击点G2在两坐标系下的坐标及两坐标系中的向量G1G2和G'1G'2。结果表明,两向量的模基本相等,且两向量的方向偏差很小,验证了向量法进行两坐标系转换是可行的。该方法具有较高的工程适用性。Abstract: According to the conversion principle for two space rectangular coordinates, a conversion model was simplified between the robot coordinate system and the laser coordinate system. On the basis of the simplified model, a method for transforming two space right angle coordinates was proposed based on the space vector algorithm. An installation and calibration experiment of the laser coordinate system was performed. By maintaining the level of the corresponding axes of the two coordinates, the coordinate rotation of X and Y axes were limited. Moreover, through adjusting the installation angle of the laser range finder, the rotation around Z axis was limited so as to ensure the corresponding two axes are parallel to each other. An experimental model of conversion measurement accuracy of the two coordinate systems was established. Based on the measured data, the coordinates of G1 point, representing the hydraulic hammer's hammerpick, and the strike point G2, and the vectors of G1G2 and G'1G'2 were calculated in the two coordinate systems. The results show that norms of the two vectors are substantially equal, and the deviation of directivity of the two vectors is small. It is verified that the vector method for transforming the two coordinate systems is feasible, the method has a good applicability in engineering.
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Keywords:
- demolition robot /
- vector method /
- laser device /
- transformation of coordinates /
- calibration
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