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本文叙述一种用光学反射传感器自动确定机器人在工作坐标中的起始参考位置的方法。装在机器人手爪边上的光学反射传感器与工作面上的T形目标相配合,用自动反复循环定位法确定机器人在工作坐标中的期望起始点。实践和理论分析表明,虽然开机时的机器人手爪的原始位置基本上是随机的,但手爪都能自动精确地收敛到期望的起始点上。
This article describes a method of automatically determining the starting reference position of a robot in the working coordinates using an optical reflection sensor. The optical reflection sensor installed on the edge of the robot’s hand paired with the T-shaped target on the working surface, and the automatic repeated circular positioning method is used to determine the desired starting point of the robot in the working coordinate. Practical and theoretical analysis shows that although the original position of the robotic gripper at startup is essentially random, the gripper automatically and accurately converges to the desired starting point.