| Workpiece localization refers to the following problem: assuming a rigid workpiece is arbitrarily fixtured to a work table,determine the position and orientation of the workpiece frame relative to some known reference frame.Firstly, the general 3-dimentsional localization problem as a least squares problem on the Euclidean group is stated. The mathematic background of rigid motion is reviewd.Secondly, the two general workpiece localizaiton algorithm are described. A detailed understanding of the Hong-Tan algorithm is analyzed and the difference between the Euclidean transformation and the tangent transformation is compared.Thirdly,The two symmetry workpiece localization algorithms : the FSL ( Fast symmetry localization) algortihm and the TSL (tangent symmetry localization) algorithm are proposed. And some examples are given.Lastly, some models are constructed and used in simulation expriment. A CAS(computer-aided-setup) system is set up that include the Adept Robot system and touching probe system and the actural experiment is done on it. The experimantal result validate the developed localization algorihtms and the Hong-Tan algorithm is the best wokpiece localizaiton algorithm. |
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