Coordinate transformation of an industrial robot and its application in deterministic optical polishing
Coordinate transformation of an industrial robot and its application in deterministic optical polishing
复制标题
DOI：
10.1117/1.oe.53.5.055102
复制
发表时间：
2014-05
影响因子：
1.3
通讯作者：
Wei Wang;Guoyu Yu;Min Xu;D. Walker
中科院分区：
文献类型：
--
作者：
Wei Wang;Guoyu Yu;Min Xu;D. Walker
抽象的。采用瑞士苏黎世ABB有限公司的IRB6620工业机器人作为加工平台进行光学加工，并将计算机控制的光学曲面加工作为关键技术应用。论述了机器人各坐标系在加工中的作用，以及各坐标系之间的关系和坐标变换。提出了一种坐标变换算法。为了评估机器人作为抛光仪器的功能，实验已经设计，使机器人设施的去除率和表面形状误差校正已被比较与那些从建立的计算机数控抛光。指出了工业机器人在光学加工中应用的重要性。
Abstract. An IRB6620 industrial robot from ABB Co. Ltd. (Zurich, Switzerland) is used as a processing platform for optical processing, and computer-controlled optical surfacing is applied as a key technology. The function of each coordinate system of the robot in processing is reviewed, as well as the relationship of each coordinate system and coordinate transformation. An algorithm governing coordinate transformations is provided. In order to assess the functionality of the robot as a polishing instrument, experiments have been designed so that the removal rate and surface form error correction of the robot facility have been compared with those from established computer numerical control polishing. The importance for the application of industrial robot in optical processing is also presented.