3 Points Calibration Method of Part Coordinates for Arc Welding Robot

The part coordinates are always calibrated before the welding robot carries out some tasks. Traditional methods are using expensive and complicated devices for measuring. A novel method for quick calibration is presented based on a 3 points operation, which only uses the internal encoder data of robot and coordinates transform calculation to get the coordinates transform matrix between the part coordinate system and the basic coordinate system of robot. It is convenient to operate and its calibration result is precise. The method is imbedded in the self-developed offline programming software for MOTOMAN SK6 arc-welding robot. Robot writing is realized based on the algorithm and offline programming. Experimental results show the validity of the calibration method.