• 论文 •

### 基于四元数表示法的机器人基坐标系标定方法

1. 北京航空航天大学 机械工程及自动化学院, 北京 100191
• 收稿日期:2014-04-30 出版日期:2015-03-20 发布日期:2015-04-02
• 通讯作者: 王伟(1982—),男,湖北京山人,讲师,jwwx@me.buaa.edu.cn,主要研究方向为机器人学. E-mail:jwwx@me.buaa.edu.cn
• 基金资助:
北京航空航天大学基本科研业务费资助项目(YWF-14-JXXY-016); 高等学校博士学科点专项科研基金资助项目(20121102120020)

### Calibration method of robot base frame by quaternion form

WANG Wei, LIU Lidong, WANG Gang, YUN Chao

1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
• Received:2014-04-30 Online:2015-03-20 Published:2015-04-02

Abstract: The accuracy pose of robot base frame with respect to the world frame needs to be calibrated under the task of multi-arm cooperation, identification of kinematics parameter and off-line program of robot. An accurately calibration method of robot base frame using quaternion form was proposed and applied. The kinematic model of robot was established by the product-of-exponential formula. 5 tool center points (TCPs), which were not coplanar, were measured with the external measuring device, and the corresponding robot joint configurations were also recorded. By considering the elements of rotational matrix corresponding to the base frame pose as the variables, a group of incompatible equations was set up, and the initial homogeneous matrix of the base frame pose was also obtained. However, due to the errors of measuring and truncation, the rotational matrix part of initial homogeneous matrix cannot satisfy the regulation of unit orthogonal matrix. Using the geometrical constraints of a quaternion, an objective equation by the form of penalty function was established, and the initial homogeneous matrix was orthogonalized. By a set of practical calibration experiments of robot, the validity of calibration method was verified, which improved the accuracy of the location of robot end.