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Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model

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Abstract

In order to solve the problems of traditional calibration methods, such as assigning internal and external parameters for camera and hand-eye relation matrices, a new method to calibrate weld coating robots based on plane-to-plane intersection model is developed in this paper. The mathematical model of the system is established by the homogeneous transformation theory, and then used to calibrate the line structured light sensor (LSLS). By adjusting the robot, the coordinate systems of the LSLS and the workpiece are superposed to solve the hand-eye relation matrix of the car roof weld coating robot. Finally, the calibrated experimental process and results towards car roof weld coating robot system are analyzed. The results show that this method is simple and high accuracy in roof weld coating robot system, and can be applied to the field calibration of car roof weld coating robot system. Furthermore, it can provide guiding significance for calibration of other robot systems.

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Acknowledgements

This work was supported by the National Natural Science Foundation of China under No. 51975499, the Program for Innovative Research Team in Science and Technology in Fujian Province University. The financial and technique supports are gratefully acknowledged.

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Authors and Affiliations

  1. School of Mechanical and Energy Engineering, Jimei University, Xiamen, 361021, Fujian, China

    Shanming Luo

  2. Key Laboratory of Precision Actuation and Transmission, Fujian Province University, Xiamen, 361024, China

    Shanming Luo, Fuqiang Li, Yin Yang & Jingyu Mo

  3. Quanzhou Huazhong University of Science and Technology Intelligent Manufacturing Research Institute, Quanzhou, 362000, China

    Pingjiang Wang

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  1. Shanming Luo
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Correspondence to Jingyu Mo.

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Luo, S., Li, F., Wang, P. et al. Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model. Int. J. Precis. Eng. Manuf. 21, 1447–1457 (2020). https://doi.org/10.1007/s12541-020-00317-9

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  • DOI: https://doi.org/10.1007/s12541-020-00317-9

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