Abstract: For the Tool Center Point（TCP） calibration of an industrial robot, a calibration based on a calibration toolbar function with two-dimensional ranging is proposed. The calibration toolbar is capable of sensing the touch of the robotic TCP and measuring the distance between any two contact points. Robotic TCP touches the calibration toolbar four times and the TCP parameter calibration model can be established for the constraint that the length of line segments formed by the contact points is the coordinate transformation invariants. The model includes a ternary quadratic algebraic equation set. All possible solutions can be found out through the elimination method and the determination method of the real solution is proposed. The method is proven to be feasible by numerical simulation. Resistive touch screen used as the calibration toolbar, for example, the resolution of two-dimensional calibration ranging toolbar influence on calibration accuracy is researched and calibration experiments results show that the method has high accuracy. The calibration whose process is simple and easy for automatization can be applied for most robots.

Key words: robotic kinematics, Tool Center Point（TCP） calibration, two-dimensional ranging, calibration accuracy

摘要： 针对工业机器人工具中心点（Tool Center Point，TCP）标定，提出一种基于带二维测距功能标定工具板的标定方法。标定工具板能够感知机器人TCP的触碰，并测量任意两触点之间的距离。使机器人TCP与标定板触碰四次，并以触点形成的线段长度为坐标变换不变量为约束，建立TCP参数标定模型。该模型包括一个三元二次代数方程组，通过消元法可求出其所有可能解，并提出了真实解的判定方法。通过数值仿真，验证了所提出方法的可行性。以电阻触摸屏作为标定板为例，分析了标定板距离测量分辨率对标定精度的影响规律。以电阻屏为标定板进行了参数标定实验，证实了该方法的准确性。方法标定过程简单，易于实现自动化，适用于大多数工业机器人的工具坐标系的标定。

关键词: 机器人运动学, 工具中心点（TCP）标定, 二维测距, 标定精度