1.位置偏移标定
易知
E B T i ⋅ T E T = T B T i (4-1) _E^BT_i \cdot _T^ET=_T^BT_i \tag{4-1} EBTi⋅TET=TBTi(4-1)
其转化为分块矩阵形式
[ E B R i B P i E o 0 0 0 1 ] ⋅ [ T E R i B P t c p 0 0 0 1 ] = [ E B R i B P t c p 0 0 0 1 ] (4-2) \left[ \begin{array}{ccc:c} &_E^BR_i & & ^BP_{iEo} \\[6pt] \hdashline 0 &0 &0 & 1 \end{array} \right] \cdot \left[ \begin{array}{ccc:c} &_T^ER_i & & ^BP_{tcp} \\[6pt] \hdashline 0 &0 &0 & 1 \end{array} \right]= \left[ \begin{array}{ccc:c} &_E^BR_i & & ^BP_{tcp} \\[6pt] \hdashline 0 &0 &0 & 1 \end{array} \right] \tag{4-2} [0EBRi00BPiEo1]⋅[0TERi00BPtcp1]=[0EBRi00BPtcp1](4-2)
由上式左右两边第四列相等可得：
E B R i ⋅ E P t c p + B P i E o = B P t c p (4-3) _E^BR_i \cdot {^EP_{tcp}} + {^BP_{iEo}}={^BP_{tcp}} \tag{4-3} EBRi⋅EPtcp+BPiEo=BPtcp(4-3)
因为工具末端点是不变的所以得
E B R 1 ⋅ E P t c p + B P 1 E o = E B R 2 ⋅ E P t c p + B P 2 E o = E B R 3 ⋅ E P t c p + B P 3 E o = ⋯ = E B R n ⋅ E P t c p + B P n E o (4-4) \begin{aligned} {_E^BR_1} \cdot {^EP_{tcp}}+{^BP_{1Eo}} &={_E^BR_2} \cdot {^EP_{tcp}}+{^BP_{2Eo}} \\[6pt] &={_E^BR_3} \cdot {^EP_{tcp}}+{^BP_{3Eo}} \\[6pt] &=\cdots \\[6pt] &={_E^BR_n} \cdot {^EP_{tcp}}+{^BP_{nEo}} \end{aligned}\tag{4-4} EBR1⋅EPtcp+BP1Eo=EBR2⋅EPtcp+BP2Eo=EBR3⋅EPtcp+BP3Eo=⋯=EBRn⋅EPtcp+BPnEo(4-4)
对应的矩阵形式为
[ E B R 1 − E B R 2 E B R 2 − E B R 3 ⋯ E B R n − 1 − E B R n ] ⋅ E P t c p = [ B P 2 E o − B P 1 E o B P 3 E o
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