以ABB公司的IRB120工业机器人和激光位移传感器组成的数据采集系统为研究对象,通过对实验系统底座平面上数据点的采集和处理,来标定机器人与激光位移传感器之间的齐次变化矩阵.以采集到的数据点在机器人坐标系中位于同一个平面上为标定原理,利用最小二乘法拟合平面方程,得到机器人需要标定的各个参数及平面参数.在最小二乘优化处理过程中,通过对不同优化结果的分析对比,最终得到最优解,并为以后该系统在数据采集中的应用提供依据.%The data acquisition system composed of ABB IRB120 industrial robot and laser displacement sensor is taken as the research object. The homogeneous change matrix between the robot and the laser displacement sensor is calibrated through sampling and processing the data points on the base plane. According to the calibration principle that all the data points are in the same plane in the robot coordinate, the least square method is used to fit the plane equation, and each parameter and the plane parameters that the robot needs for calibration are obtained. Through the analysis and contrast of different optimization results in the least squares optimization process, the optimal solution for the system is got ultimately and the basis is provided for the application of this data acquisition system in the future.
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